Details
| Original language | English |
|---|---|
| Pages (from-to) | 181-188 |
| Number of pages | 8 |
| Journal | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Volume | 2 |
| Issue number | 5 |
| Publication status | Published - 28 May 2014 |
| Event | ISPRS Technical Commission V Symposium 2014 - Riva del Garda, Italy Duration: 23 Jun 2014 → 25 Jun 2014 |
Abstract
Mobile Mapping is widely used for collecting large amounts of geo-referenced data. An important role plays sensor fusion, in order to evaluate multiple sensors such as laser scanner and cameras jointly. This requires to determine the relative orientation between sensors. Based on data of a RIEGL VMX-250 mobile mapping system equipped with two laser scanners, four optional cameras, and a highly precise GNSS/IMU system, we propose an approach to improve camera orientations. A manually determined orientation is used as an initial approximation for matching a large number of points in optical images and the corresponding projected scan images. The search space of the point correspondences is reduced to skylines found in both the optical as well as the scan image. The skyline determination is based on alpha shapes, the actual matching is done via an adapted ICP algorithm. The approximate values of the relative orientation are used as starting values for an iterative resection process. Outliers are removed at several stages of the process. Our approach is fully automatic and improves the camera orientation significantly.
Keywords
- Automation, Camera, Laser scanning, Matching, Mobile Mapping, Point cloud, Registration
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- Earth and Planetary Sciences (miscellaneous)
- Environmental Science(all)
- Environmental Science (miscellaneous)
- Physics and Astronomy(all)
- Instrumentation
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In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. 2, No. 5, 28.05.2014, p. 181-188.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Skyline matching based camera orientation from images and mobile mapping point clouds
AU - Hofmann, Sabine
AU - Eggert, Daniel
AU - Brenner, Claus
PY - 2014/5/28
Y1 - 2014/5/28
N2 - Mobile Mapping is widely used for collecting large amounts of geo-referenced data. An important role plays sensor fusion, in order to evaluate multiple sensors such as laser scanner and cameras jointly. This requires to determine the relative orientation between sensors. Based on data of a RIEGL VMX-250 mobile mapping system equipped with two laser scanners, four optional cameras, and a highly precise GNSS/IMU system, we propose an approach to improve camera orientations. A manually determined orientation is used as an initial approximation for matching a large number of points in optical images and the corresponding projected scan images. The search space of the point correspondences is reduced to skylines found in both the optical as well as the scan image. The skyline determination is based on alpha shapes, the actual matching is done via an adapted ICP algorithm. The approximate values of the relative orientation are used as starting values for an iterative resection process. Outliers are removed at several stages of the process. Our approach is fully automatic and improves the camera orientation significantly.
AB - Mobile Mapping is widely used for collecting large amounts of geo-referenced data. An important role plays sensor fusion, in order to evaluate multiple sensors such as laser scanner and cameras jointly. This requires to determine the relative orientation between sensors. Based on data of a RIEGL VMX-250 mobile mapping system equipped with two laser scanners, four optional cameras, and a highly precise GNSS/IMU system, we propose an approach to improve camera orientations. A manually determined orientation is used as an initial approximation for matching a large number of points in optical images and the corresponding projected scan images. The search space of the point correspondences is reduced to skylines found in both the optical as well as the scan image. The skyline determination is based on alpha shapes, the actual matching is done via an adapted ICP algorithm. The approximate values of the relative orientation are used as starting values for an iterative resection process. Outliers are removed at several stages of the process. Our approach is fully automatic and improves the camera orientation significantly.
KW - Automation
KW - Camera
KW - Laser scanning
KW - Matching
KW - Mobile Mapping
KW - Point cloud
KW - Registration
UR - http://www.scopus.com/inward/record.url?scp=84924279940&partnerID=8YFLogxK
U2 - 10.5194/isprsannals-II-5-181-2014
DO - 10.5194/isprsannals-II-5-181-2014
M3 - Conference article
AN - SCOPUS:84924279940
VL - 2
SP - 181
EP - 188
JO - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
JF - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
SN - 2194-9042
IS - 5
T2 - ISPRS Technical Commission V Symposium 2014
Y2 - 23 June 2014 through 25 June 2014
ER -