26 September 2013 Coarse automated registration of visual imagery with three-dimensional light detection and ranging models
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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.
© The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.
Prakash Duraisamy, Prakash Duraisamy, Kamesh Namuduri, Kamesh Namuduri, Stephen Jackson, Stephen Jackson, Bill P. Buckles, 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 . Submission:
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