Coarse automated registration of visual imagery with three-dimensional light detection and ranging models

Prakash Duraisamy; Kamesh Namuduri; Stephen Jackson; Bill P. Buckles

doi:10.1117/1.JEI.22.3.033035

26 September 2013 Coarse automated registration of visual imagery with three-dimensional light detection and ranging models

Prakash Duraisamy, Kamesh Namuduri, Stephen Jackson, Bill P. Buckles

Author Affiliations +

Journal of Electronic Imaging, Vol. 22, Issue 3, 033035 (September 2013). https://doi.org/10.1117/1.JEI.22.3.033035

Abstract

An automated, fast, robust registration of visual images with three-dimensional data generated from light detection and ranging (LiDAR) sensor is described. The method is intended to provide a coarse registration of the images, suitable for input into other algorithms or where only a rough registration is required. Our approach consists of two steps. In the first step, two-dimensional lines are extracted as features from both the visual and the LiDAR data. In the second step, a novel and efficient search is performed to recover the external camera parameters, and thus the camera matrix (as a calibrated camera is assumed). An error metric involving line matchings is used to guide the search. We demonstrate the performance of our algorithm on both synthetic and real-world data.

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Citation Download Citation

Prakash Duraisamy, Kamesh Namuduri, Stephen Jackson, and Bill P. Buckles "Coarse automated registration of visual imagery with three-dimensional light detection and ranging models," Journal of Electronic Imaging 22(3), 033035 (26 September 2013). https://doi.org/10.1117/1.JEI.22.3.033035

Published: 26 September 2013

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