Preprint Article Version 1 NOT YET PEER-REVIEWED

Line-Based Registration of Panoramic Images and LiDAR Point Cloud for Mobile Mapping

Version 1 : Received: 2 December 2016 / Approved: 2 December 2016 / Online: 2 December 2016 (10:58:19 CET)

A peer-reviewed article of this Preprint also exists.

Cui, T.; Ji, S.; Shan, J.; Gong, J.; Liu, K. Line-Based Registration of Panoramic Images and LiDAR Point Clouds for Mobile Mapping. Sensors 2017, 17, 70. Cui, T.; Ji, S.; Shan, J.; Gong, J.; Liu, K. Line-Based Registration of Panoramic Images and LiDAR Point Clouds for Mobile Mapping. Sensors 2017, 17, 70.

Journal reference: Sensors 2016, 17, 70
DOI: 10.3390/s17010070

Abstract

For multi-sensor integrated systems, such as a mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, though the latter is more reliable.

Subject Areas

mobile mapping system; LiDAR point cloud; 2D-3D registration; panoramic sensor model

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