A Simple and Efficient Registration of 3D Point Cloud and Image Data for Indoor Mobile Mapping System

• URL: http://arxiv.org/abs/2010.14261v1
• Date: Tue, 27 Oct 2020 13:01:54 GMT
• Title: A Simple and Efficient Registration of 3D Point Cloud and Image Data for Indoor Mobile Mapping System
• Authors: Hao Ma, Jingbin Liu, Keke Liu, Hongyu Qiu, Dong Xu, Zemin Wang, Xiaodong Gong, Sheng Yang (State Key Laboratory of Information Engineering in Survering, Mapping and Remote Sensing, Wuhan University)
• Abstract summary: registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. We develop a simple but efficient registration method to improve the accuracy of the initial pose.
• Score: 18.644879251473647
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy of the initial pose and the applicability of the integration of 3D points and image data, we develop a simple but efficient registration method. We firstly extract point features from LiDAR point clouds and images: point features is extracted from single-frame LiDAR and point features from images using classical Canny method. Cost map is subsequently built based on Canny image edge detection. The optimization direction is guided by the cost map where low cost represents the the desired direction, and loss function is also considered to improve the robustness of the the purposed method. Experiments show pleasant results.

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