Refined Non-rigid Registration of a Panoramic Image Sequence to a LiDAR Point Cloud

The combination of LiDAR data with panoramic images could be of great benefit to many geo-related applications and processes such as measuring and map making. Although it is possible to record both LiDAR points and panoramic images at the same time, there are economic and practical advantages to separating the acquisition of both types of data. However, when LiDAR and image data is recorded separately, poor GPS reception in many urban areas will make registration between the data sets necessary. In this paper, we describe a method to register a sequence of panoramic images to a LiDAR point cloud using a non-rigid version of ICP that incorporates a bundle adjustment framework. The registration is then refined by integrating image-to-reflectance data SIFT correspondences into the bundle adjustment. We demonstrate the validity of this registration method by a comparison against ground truth data. This contribution was selected in a double blind review process to be published within the Lecture Notes in Computer Science series (Springer-Verlag, Heidelberg). Photogrammetric Image Analysis Volume Editors: Stilla U, Rottensteiner F, Mayer H, Jutzi B, Butenuth M LNCS Volume: 6952 Series Editors: Hutchison D, Kanade T, Kittler J, Kleinberg JM, Kobsa A, Mattern F, Mitchell JC, Naor M, Nierstrasz O, Pandu Rangan C, Steffen B, Sudan M, Terzopoulos D, Tygar D, Weikum G ISSN: 0302-9743 The article is accessible online through www.springerlink.com. 15 In: Stilla U et al (Eds) PIA11. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences 38 (3/W22)