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Automatic registration of fused lidar/digital imagery (texel images) for three-dimensional image creation

机译：自动注册融合的激光雷达/数字图像（纹理图像）以创建三维图像

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摘要

Several photogrammetry-based methods have been proposed that the derive three-dimensional (3-D) information from digital images from different perspectives, and lidar-based methods have been proposed that merge lidar point clouds and texture the merged point clouds with digital imagery. Image registration alone has difficulty with smooth regions with low contrast, whereas point cloud merging alone has difficulty with outliers and a lack of proper convergence in the merging process. This paper presents a method to create 3-D images that uses the unique properties of texel images (pixel-fused lidar and digital imagery) to improve the quality and robustness of fused 3-D images. The proposed method uses both image processing and point-cloud merging to combine texel images in an iterative technique. Since the digital image pixels and the lidar 3-D points are fused at the sensor level, more accurate 3-D images are generated because registration of image data automatically improves the merging of the point clouds, and vice versa. Examples illustrate the value of this method over other methods. The proposed method also includes modifications for the situation where an estimate of position and attitude of the sensor is known, when obtained from low-cost global positioning systems and inertial measure-ment units sensors.
机译：已经提出了几种基于摄影测量的方法，这些方法从不同的角度从数字图像中导出了三维（3-D）信息，并且已经提出了基于激光雷达的方法，该方法将激光雷达点云合并并使用数字图像对合并的点云进行纹理化。单独的图像配准很难处理低对比度的平滑区域，而单独的点云合并则很难处理离群值并且在合并过程中缺乏适当的收敛性。本文提出了一种创建3D图像的方法，该方法使用texel图像的独特属性（像素融合激光雷达和数字图像）来提高融合3D图像的质量和鲁棒性。所提出的方法使用图像处理和点云合并以迭代技术组合纹理像素图像。由于数字图像像素和激光雷达3-D点在传感器级别融合，因此生成了更准确的3-D图像，因为图像数据的配准会自动改善点云的合并，反之亦然。实例说明了此方法相对于其他方法的价值。当从低成本的全球定位系统和惯性测量单位传感器中获得传感器的位置和姿态估计值已知时，所提出的方法还可以进行修改。

著录项

  • 来源
    《Optical engineering》 |2015年第3期|031105.1-031105.12|共12页
  • 作者

    Scott E. Budge; Neeraj S. Badamikar; Xuan Xie;

  • 作者单位

    Utah State University, Center for Advanced Imaging Ladar, Department of Electrical and Computer Engineering, 4120 Old Main Hill, Logan, Utah 84322-4120, United States;

    Utah State University, Center for Advanced Imaging Ladar, Department of Electrical and Computer Engineering, 4120 Old Main Hill, Logan, Utah 84322-4120, United States;

    Utah State University, Center for Advanced Imaging Ladar, Department of Electrical and Computer Engineering, 4120 Old Main Hill, Logan, Utah 84322-4120, United States;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    lidar; ladar; three-dimensional image creation; texel image; image registration; image and lidar fusion; point cloud matching;

    机译：激光雷达激光三维图像创作;像素图像图像配准;图像和激光雷达融合;点云匹配;

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