Volume XLI-B3
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B3, 295-300, 2016
https://doi.org/10.5194/isprs-archives-XLI-B3-295-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B3, 295-300, 2016
https://doi.org/10.5194/isprs-archives-XLI-B3-295-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

  09 Jun 2016

09 Jun 2016

PERSPECTIVE INTENSITY IMAGES FOR CO-REGISTRATION OF TERRESTRIAL LASER SCANNER AND DIGITAL CAMERA

Yubin Liang1,2, Yan Qiu1,2, and Tiejun Cui1,2 Yubin Liang et al.
  • 1College of Urban and Environmental Sciences, Tianjin Normal University, Tianjin 300387, China
  • 2Tianjin Engineering Center for Geospatial Information Technology, Tianjin Normal University, Tianjin 300387, China

Keywords: Point Cloud, Perspective Intensity Image, Image Matching, Random Sample Consensus (RANSAC), Pose Estimation, Terrestrial Laser Scanning (TLS)

Abstract. Co-registration of terrestrial laser scanner and digital camera has been an important topic of research, since reconstruction of visually appealing and measurable models of the scanned objects can be achieved by using both point clouds and digital images. This paper presents an approach for co-registration of terrestrial laser scanner and digital camera. A perspective intensity image of the point cloud is firstly generated by using the collinearity equation. Then corner points are extracted from the generated perspective intensity image and the camera image. The fundamental matrix F is then estimated using several interactively selected tie points and used to obtain more matches with RANSAC. The 3D coordinates of all the matched tie points are directly obtained or estimated using the least squares method. The robustness and effectiveness of the presented methodology is demonstrated by the experimental results. Methods presented in this work may also be used for automatic registration of terrestrial laser scanning point clouds.