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The high precision LiDAR point cloud registration is the key to achieve overall point cloud data, in the meantime, to ensure the 3D topological reconstruction of spatial objects. In this paper, a new registration method based on Plücker line is proposed. The conjugate lines between reference point cloud and point cloud to be registered are expressed by Plücker line. Then the collinearity equation based on Plücker line is established by the geometric topology relation of the conjugate lines. Finally the relative position and attitude parameters between reference point cloud and point cloud to be registered are solved by least squares method. Experimental results show that the method has strong geometric constraint and high registration precision.

Registration of aerial image with airborne LiDAR data is a key to feature extraction. A registration model based on Plücker line is proposed. The relative position and attitude relationship between the conjugate lines in LiDAR and image is determined based on Plücker linear equation, which describes line transformation in space, then coplanarity condition equation is established. Finally, coordinate transformation between image point and corresponding LiDAR point is achieved by the spiral movement of Plücker lines in the image. The registration model of Plücker linear coplanarity condition equation is simple, and jointly describes the rotation and translation to avoid coupling error between them, so the accuracy is approved. This research provides technical support for high-quality earth spatial information acquisition.