The algorithm to generate color point-cloud with the registration between panoramic image and laser point-cloud

35th International Symposium on Remote Sensing of Environment

地球科学;生态环境科学

Zeng, Fanyang^1 ; Zhong, Ruofei^1

Key Laboratory of Resource, Environment and GIS in Beijing, Ministry of Education, Capital Normal University, Beijing, China^1

关键词: Color information;    Image information;    Intensity information;    Mobile measurement systems;    Omnidirectional multi-camera systems;    Panoramic images;    Prominent features;    Visual interpretation;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/17/1/012160/pdf
DOI  :  10.1088/1755-1315/17/1/012160

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

Laser point cloud contains only intensity information and it is necessary for visual interpretation to obtain color information from other sensor. Cameras can provide texture, color, and other information of the corresponding object. Points with color information of corresponding pixels in digital images can be used to generate color point-cloud and is conducive to the visualization, classification and modeling of point-cloud. Different types of digital cameras are used in different Mobile Measurement Systems (MMS).the principles and processes for generating color point-cloud in different systems are not the same. The most prominent feature of the panoramic images is the field of 360 degrees view angle in the horizontal direction, to obtain the image information around the camera as much as possible. In this paper, we introduce a method to generate color point-cloud with panoramic image and laser point-cloud, and deduce the equation of the correspondence between points in panoramic images and laser point-clouds. The fusion of panoramic image and laser point-cloud is according to the collinear principle of three points (the center of the omnidirectional multi-camera system, the image point on the sphere, the object point). The experimental results show that the proposed algorithm and formulae in this paper are correct.