Research on Coloring of 3D Point Cloud and Panoramic Image Based on Handheld SLAM
发布时间：2025-01-07 点击次数：
DOI码：10.1109/geoinformatics57846.2022.9963818
所属单位：School of Remote Sensing and Information Engineering, Wuhan University, China
发表刊物：International Conference on Geoinformatics
关键字：Data fusion,Imaging systems,Indoor positioning systems,3D point cloud,Cloud image,Handhelds,Handhold mobile scanning system,Panoramic images,Point-clouds,Position and orientations,Registration,Scanning systems,Simultaneous localization and mapping,Robotics,Handheld mobile scanning system,panoramic image,point cloud,registration,SLAM
摘要：Handheld mobile scanning systems usually do not integrate high-precision position and orientation system (POS), and the traditional 3D point cloud and 2D image coloring lack a unified spatial reference. This letter proposes a method for registration and coloring of 3D point cloud and panoramic image obtained by handheld simultaneous localization and mapping (SLAM) system. Firstly, the initial registration parameters are generated by slam trajectory coordinate and pose interpolation. Secondly, the point cloud is converted into depth map according to the spherical 3D-2D imaging model, and then the optimal registration parameters between depth map and panorama are calculated based on the mutual information maximization. Finally, the multi segment point cloud is colored in batch by using optimal parameters, generating the color point cloud of the complete scene. The experimental results show that our method can realize the coloring of point clouds in different scenes such as indoor and outdoor without POS, and is suitable for the data fusion application of handheld scanning point clouds and panoramic images. © 2022 IEEE.
合写作者：Li, Pengcheng,Zhao, Qingwu,Hu, Shaocong
论文类型：会议论文
学科门类：工学
文献类型：C
卷号：2022-August
ISSN号：2161-024X
是否译文：否
CN号：Scopus:2-s2.0-85143886204,EI:20225113258628
发表时间：2022-08-15
