title: Line-Based Registration of Panoramic Images and LiDAR Point Clouds for Mobile Mapping.
abstract: For multi-sensor integrated systems, such as the mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between an optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and a LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for the panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and the LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, with the latter being more reliable.
authors.affiliation: State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China. cuitingting@whu.edu.cn.|Research Center of Remote Sensing in Public Security, People's Public Security University of China, Beijing 100038, China. cuitingting@whu.edu.cn.
authors.forename: Tingting
authors.initials: T
authors.lastname: Cui
authors.affiliation: School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. jishunping@whu.edu.cn.|RSISE, Australian National University, Canberra, ACT 2600, Australia. jishunping@whu.edu.cn.
authors.forename: Shunping
authors.initials: S
authors.lastname: Ji
authors.affiliation: Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China. jshan@purdue.edu.|Lyles School of Civil Engineering, Purdue University, West Lafayette, IN 47907, USA. jshan@purdue.edu.
authors.forename: Jie
authors.initials: J
authors.lastname: Shan
authors.affiliation: State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China. gongjy@whu.edu.cn.|School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. gongjy@whu.edu.cn.|Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China. gongjy@whu.edu.cn.
authors.forename: Jianya
authors.initials: J
authors.lastname: Gong
authors.affiliation: Research Center of Remote Sensing in Public Security, People's Public Security University of China, Beijing 100038, China. liukejian@ppsuc.edu.cn.
authors.forename: Kejian
authors.initials: K
authors.lastname: Liu
keywords: 2D-3D registration; LiDAR point cloud; mobile mapping system; panoramic sensor model