Automatic Registration of laser scanning data and colour images

Automatic Registration of laser scanning data and colour images

Sablerolle, S.A.

Bucksch, A. (mentor)

Civil Engineering and Geosciences

Geomatics

Geomatic engineering

2006-10-30

Laser scanning is a new technique for three dimensional point measurements. Over the last decades the number of applications in which these measurements take place, has grown significantly. In every application the surveyors are looking for the same result, namely a three dimensional point cloud of the object of interest. The purpose of this research is to improve the quality of the visualization: the objective is to automatically register a laser scanner point cloud with colour images. This objective is based on the developed data acquisition of Zoller + Fröhlich GmbH, Wangen im Allgäu, Germany: a digital camera is fixed on the laser scanner close to its centre. The instrument produces a full scan and colour images of its environment. The automatic registration of laser scanning data and colour images designed in this research is successfully implemented by making use of gradient operators, edge detectors and descriptors. Points of interest are found and matched in both the intensity image of the laser scanner and the colour images of the camera. The matched points are used to determine the external parameters of the colour image in object space with a non-linear rigid optimization. These parameters form the connection between the colour points and the laser 3D coordinates. Visualization can be made now by either plotting the colours onto the 3D points or plotting the range data onto the colour image.

laser scanning
automatic registration

http://resolver.tudelft.nl/uuid:00f12183-2577-44c5-a8b1-77287681779b

Student theses

master thesis

(c) 2006 Sablerolle, S.A.