Automatic registration of LIDAR and optical images of urban scenes
Name
Mastin-2009-Automatic registration of LIDAR and optical images of urban scenes.pdf
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5.27 MB
Format
Adobe PDF
Checksum (MD5)
7829adb1183a1fb62416cf0140990648
Author(s)
Mastin, Dana Andrew
Kepner, Jeremy
Fisher, John W., III
Date Issued
August 2009
Journal
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2009. CVPR 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Mastin, A., J. Kepner, and J. Fisher. “Automatic registration of LIDAR and optical images of urban scenes.” Computer Vision and Pattern Recognition, 2009. CVPR 2009. IEEE Conference on. 2009. 2639-2646. © Copyright 2010 IEEE
Version
Final published version
Abstract
Fusion of 3D laser radar (LIDAR) imagery and aerial optical imagery is an efficient method for constructing 3D virtual reality models. One difficult aspect of creating such models is registering the optical image with the LIDAR point cloud, which is characterized as a camera pose estimation problem. We propose a novel application of mutual information registration methods, which exploits the statistical dependency in urban scenes of optical appearance with measured LIDAR elevation. We utilize the well known downhill simplex optimization to infer camera pose parameters. We discuss three methods for measuring mutual information between LIDAR imagery and optical imagery. Utilization of OpenGL and graphics hardware in the optimization process yields registration times dramatically lower than previous methods. Using an initial registration comparable to GPS/INS accuracy, we demonstrate the utility of our algorithm with a collection of urban images and present 3D models created with the fused imagery.
MIT Department
Lincoln Laboratory
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/CVPRW.2009.5206539
