When a few of local 3D terrain models have been reconstructed respectively, firstly find the common 3D points between every two adjacent local models based on edge detection and image matching, secondly fit the matrix of coordinate transformation employing the technique of separating rotation matrix and translate vector, and lastly register these local 3D models into a single coordinate system.
当恢复出多个局部3D地形模型时，首先基于边缘检测和图像匹配技术提取出相邻局部模型之间的公共数据点，然后采用分离旋转变换和平移矢量的策略拟合出相邻模型之间的坐标转换关系，之后就可以将局部模型统一在同一个坐标系下。