Higher quality surface information would be got when data from optical images and LiDAR were integrated, owing to
the fact that optical images and LiDAR point cloud have unique characteristics that make them preferable in many
applications. While most previous works focus on registration of pinhole perspective cameras to 2D or 3D LiDAR data.
In this paper, a method for the registration of vehicle based panoramic image and LiDAR point cloud is proposed. Using
the translation among panoramic image, single CCD image, laser scanner and Position and Orientation System (POS)
along with the GPS/IMU data, precise co-registration between the panoramic image and the LiDAR point cloud in the
world system is achieved. Results are presented under a real world data set collected by a new developed Mobile
Mapping System (MMS) integrated with a high resolution panoramic camera, two laser scanners and a POS.
KEYWORDS: Laser scanners, Calibration, Imaging systems, Laser systems engineering, System on a chip, Navigation systems, Panoramic photography, Clouds, Geodesy, Global Positioning System
The coordinate systems related to the vehicle-based mobile laser scanning system and the relationships between them are
firstly demonstrated in this paper, then the positioning principals of vehicle-based mobile laser scanning system are well
established. Factors that influence the system positioning precision are analyzed briefly, including the misalignment
angle and lever arm between Scanner Owned Coordinate System (SOCS) and IMU System. To calibrate the
misalignment angle and lever arm between SOCS and IMU Coordinate System, a calibration field, which uses the
building corners as reference points, is established. Based on the calibration field established, a calibration method is
proposed and utilized in the calibration of our vehicle-based mobile laser scanning and urban panoramic imaging and
surveying system, the verification experiment show that, under good GPS conditions and with the system well calibrated,
the elevation accuracy is better than 4cm and the planimetric accuracy is better than 6cm.
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