Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images
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 im...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2009-04-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/9/4/2621/ |
| _version_ | 1817991778119188480 |
|---|---|
| author | Qile Zhao Liqiang Zhang Jonathan Li Zhizhong Kang Sisi Zlatanova |
| author_facet | Qile Zhao Liqiang Zhang Jonathan Li Zhizhong Kang Sisi Zlatanova |
| author_sort | Qile Zhao |
| collection | DOAJ |
| description | 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° and 0.045°, 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. |
| first_indexed | 2024-04-14T01:18:00Z |
| format | Article |
| id | doaj.art-66931821a3d44447b361982bdf8e1b68 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T01:18:00Z |
| publishDate | 2009-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-66931821a3d44447b361982bdf8e1b682022-12-22T02:20:48ZengMDPI AGSensors1424-82202009-04-01942621264610.3390/s90402621Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance ImagesQile ZhaoLiqiang ZhangJonathan LiZhizhong KangSisi ZlatanovaThis 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° and 0.045°, 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.http://www.mdpi.com/1424-8220/9/4/2621/Point cloudRegistrationLIDARTerrestrial laser scanningAutomationImage Matching |
| spellingShingle | Qile Zhao Liqiang Zhang Jonathan Li Zhizhong Kang Sisi Zlatanova Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images Sensors Point cloud Registration LIDAR Terrestrial laser scanning Automation Image Matching |
| title | Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images |
| title_full | Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images |
| title_fullStr | Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images |
| title_full_unstemmed | Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images |
| title_short | Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images |
| title_sort | automatic registration of terrestrial laser scanning point clouds using panoramic reflectance images |
| topic | Point cloud Registration LIDAR Terrestrial laser scanning Automation Image Matching |
| url | http://www.mdpi.com/1424-8220/9/4/2621/ |
| work_keys_str_mv | AT qilezhao automaticregistrationofterrestriallaserscanningpointcloudsusingpanoramicreflectanceimages AT liqiangzhang automaticregistrationofterrestriallaserscanningpointcloudsusingpanoramicreflectanceimages AT jonathanli automaticregistrationofterrestriallaserscanningpointcloudsusingpanoramicreflectanceimages AT zhizhongkang automaticregistrationofterrestriallaserscanningpointcloudsusingpanoramicreflectanceimages AT sisizlatanova automaticregistrationofterrestriallaserscanningpointcloudsusingpanoramicreflectanceimages |