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Optical Engineering • Open Access

Automatic registration method for mobile LiDAR data
Author(s): Ruisheng Wang; Frank P. Ferrie

Paper Abstract

We present an automatic mutual information (MI) registration method for mobile LiDAR and panoramas collected from a driving vehicle. The suitability of MI for registration of aerial LiDAR and aerial oblique images has been demonstrated under an assumption that minimization of joint entropy (JE) is a sufficient approximation of maximization of MI. We show that this assumption is invalid for the ground-level data. The entropy of a LiDAR image cannot be regarded as approximately constant for small perturbations. Instead of minimizing the JE, we directly maximize MI to estimate corrections of camera poses. Our method automatically registers mobile LiDAR with spherical panoramas over an approximate 4-km drive, and is the first example we are aware of that tests MI registration in a large-scale context.

Paper Details

Date Published: 27 January 2015
PDF: 11 pages
Opt. Eng. 54(1) 013108 doi: 10.1117/1.OE.54.1.013108
Published in: Optical Engineering Volume 54, Issue 1
Show Author Affiliations
Ruisheng Wang, Univ. of Calgary (Canada)
Frank P. Ferrie, McGill Univ. (Canada)

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