TOWARDS RADIOMETRICAL ALIGNMENT OF 3D POINT CLOUDS
TOWARDS RADIOMETRICAL ALIGNMENT OF 3D POINT CLOUDS
复制标题
实现 3D 点云的辐射对齐
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
A. Nüchter
中科院分区：
文献类型：
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作者：
Helge A. Lauterbach;D. Borrmann;A. Nüchter
抽象的。3D激光扫描仪通常无法收集颜色信息。因此，着色通常通过将附加相机的照片投影到3D扫描来完成。捕获过程是耗时的，因此容易受到环境变化的影响。彩色点云的外观主要受照明条件和相应相机设置的变化的影响。在全景图像的情况下，这些曝光变化通常通过将输入图像彼此辐射对准来校正。在本文中，我们采用现有的全景优化方法，以纠正着色的点云。因此，通过使用配准的3D扫描的几何上最接近的点及其在图像中的相邻像素来选择来自重叠图像的对应像素。原始格式图像的动态范围允许校正较大的曝光差异。两个实验证明了该方法的能力。
Abstract. 3D laser scanners are typically not able to collect color information. Therefore coloring is often done by projecting photos of an additional camera to the 3D scans. The capturing process is time consuming and therefore prone to changes in the environment. The appearance of the colored point cloud is mainly effected by changes of lighting conditions and corresponding camera settings. In case of panorama images these exposure variations are typically corrected by radiometrical aligning the input images to each other. In this paper we adopt existing methods for panorama optimization in order to correct the coloring of point clouds. Therefore corresponding pixels from overlapping images are selected by using geometrically closest points of the registered 3D scans and their neighboring pixels in the images. The dynamic range of images in raw format allows for correction of large exposure differences. Two experiments demonstrate the abilities of the approach.