Paper Info
Title
Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images.
Abstract
This paper presents a new approach to the automatic registration of terrestrial laser scanning (TLS) point clouds using panoramic reflectance images. The approach follows a two-step procedure that includes both pair-wise registration and global registration. The pair-wise registration consists of image matching (pixel-to-pixel correspondence) and point cloud registration (point-to-point correspondence), as the correspondence between the image and the point cloud (pixel-to-point) is inherent to the reflectance images. False correspondences are removed by a geometric invariance check. The pixel-to-point correspondence and the computation of the rigid transformation parameters (RTPs) are integrated into an iterative process that allows for the pair-wise registration to be optimised. The global registration of all point clouds is obtained by a bundle adjustment using a circular self-closure constraint. Our approach is tested with both indoor and outdoor scenes acquired by a FARO LS 880 laser scanner with an angular resolution of 0.036 degrees and 0.045 degrees, respectively. The results show that the pair-wise and global registration accuracies are of millimetre and centimetre orders, respectively, and that the process is fully automatic and converges quickly.
Year
DOI
Venue
2009
10.3390/s90402621
SENSORS
Keywords
Field
DocType
Point cloud,Registration,LIDAR, Terrestrial laser scanning,Automation,Image Matching
Computer vision,Laser scanning,Iterative and incremental development,Bundle adjustment,Remote sensing,Rigid transformation,Angular resolution,Lidar,Artificial intelligence,Engineering,Point cloud,Computation
Journal
Volume
Issue
ISSN
9
4
1424-8220
Citations 
PageRank 
References 
14
1.17
17
Authors
5
Name
Order
Citations
PageRank
Zhizhong Kang1559.15
Jonathan Li2798119.18
Liqiang Zhang324136.21
Qile Zhao45417.47
S. Zlatanova537750.93