Higher quality surface information would be got when data from optical images and LiDAR were integrated, owing to
the fact that optical images and LiDAR point cloud have unique characteristics that make them preferable in many
applications. While most previous works focus on registration of pinhole perspective cameras to 2D or 3D LiDAR data.
In this paper, a method for the registration of vehicle based panoramic image and LiDAR point cloud is proposed. Using
the translation among panoramic image, single CCD image, laser scanner and Position and Orientation System (POS)
along with the GPS/IMU data, precise co-registration between the panoramic image and the LiDAR point cloud in the
world system is achieved. Results are presented under a real world data set collected by a new developed Mobile
Mapping System (MMS) integrated with a high resolution panoramic camera, two laser scanners and a POS.
The coordinate systems related to the vehicle-based mobile laser scanning system and the relationships between them are
firstly demonstrated in this paper, then the positioning principals of vehicle-based mobile laser scanning system are well
established. Factors that influence the system positioning precision are analyzed briefly, including the misalignment
angle and lever arm between Scanner Owned Coordinate System (SOCS) and IMU System. To calibrate the
misalignment angle and lever arm between SOCS and IMU Coordinate System, a calibration field, which uses the
building corners as reference points, is established. Based on the calibration field established, a calibration method is
proposed and utilized in the calibration of our vehicle-based mobile laser scanning and urban panoramic imaging and
surveying system, the verification experiment show that, under good GPS conditions and with the system well calibrated,
the elevation accuracy is better than 4cm and the planimetric accuracy is better than 6cm.
The goal for vehicle based multi-sensors integrated system is extracting spatial data and attribute data from mass data of
different sources. The main sensors used in vehicle based multi-sensors integrated system for surveying and mapping are
multi-pair of stereo cameras. There are two types of calibrations for stereo cameras in multi-sensors integrated system.
One is relative calibration, and the other is absolute calibration. In this paper, a full mathematical model for stereo
cameras on multi-sensors integrated system has been described and the mathematical models for translate coordinates
from stereo camera sub-system to geographical coordinate system are also given out. And integrated calibration of stereo
cameras has been realized successfully. With the calibration result, the total precision of the system used in this paper is
is suitable for medium or small scale surveying and mapping in urban area.