利用球心投影与线特征的点云与全景影像配准

Registration of Point Clouds with Panoramic Images Based on Gnomonic Projection and Line Features

针对车载移动测量系统信息融合问题,提出了一种点云与全景影像配准的解决方案。利用车载移动测量系统记录的位置和姿态信息将三维点云进行站心化和姿态调整,然后利用球心投影纠正预先选定的全景影像目标区域的形变使之可以提取线状特征,在经过站心化和姿态调整的点云数据中提取与之对应的线状特征,同样利用球心投影计算点云在目标区域的投影坐标初值,最后利用影像线特征方程和点云投影坐标初值通过条件平差获得点云投影改正量,进而优化配准。试验结果表明,该方法计算简单,配准效果较好。

In this paper,a new method of registration of panoramic images with point clouds is proposed for mobile measurement system.Firstly,the position and posture information collected by the mobile measurement system is used to pretreat point clouds.Then,gnomonic projection is used to correct the deformation of the selected part of the panoramic image.Line features can be extracted from the part after correction.Gnomonic projection is also used to calculate the initial value of projection coordinates of point clouds in the target area.Finally,use the equation of the line features and initial value of projection coordinates of point clouds to calculate the correction by adjustment of conditions.