Journal of Geodesy and Geoinformation Science ›› 2021, Vol. 4 ›› Issue (3): 25-37.doi: 10.11947/j.JGGS.2021.0303

• Special Issue • Previous Articles     Next Articles

A Local Reference Frame Construction Method Based on the Signed Surface Variation

Xiaopeng YAN1(),Wei ZHOU1(),Rencan PENG2,Wenliang PAN1,Lei WANG1,Guoxin HU1   

  1. 1. The P.L.A. 91550 Unit, Dalian 116023, China
    2. Department of Military Oceanography and Hydrography & Cartography,Dalian Naval Academy,Dalian 116018,China
  • Received:2020-09-15 Accepted:2021-01-15 Online:2021-09-20 Published:2021-10-09
  • Contact: Wei ZHOU;
  • About author:Xiaopeng YAN (1973—), male, majors in underwater measure and target mark technology, and the current research interests focus on LiDAR data. E-mail:
  • Supported by:
    Youth Program of National Natural Science Foundation of China(41901415);Youth Program of National Natural Science Foundation of China(61801481)


A fast local reference frame (LRF) construction method based on the signed surface variation is proposed, which can adapt to the real-time applications such as self-driving, face recognition, object detection. The z-axis of the LRF is generated based on the concavity of the local surface of keypoint. The x-axis is constructed by the weighted vector sum of a set of projection vectors of the local neighborhoods around keypoint. The performance of the proposed LRF is evaluated on six standard datasets and compared with six state-of-the-art LRF construction methods (e.g., BOARD, FLARE, SHOT, RoPS and TOLDI). Experimental results validate the high repeatability, robustness, universality and time efficiency of our method.

Key words: signed surface variation; local reference frame; point cloud; feature extraction