Research On Registration Of Vehicle-borne Mobile Laser Scanning Data And Optical Image

Vehicle-borne mobile mapping system is an automatic data acquisition system which integrates multiple sensors,such as positioning and orientation system,laser scanners,CCD cameras.Under the control of synchrotimer,vehicle-borne mobile mapping system collects laser scanning data and images real time in high-speed motion.By using direct georeferencing technology,vehicle-borne mobile mapping system can get position and orientation information of cameras and laser scanners directly without any ground control points,that is to say,it can measure using stereo images directly and get 3d position information directly using laser scanner.Vehicle-borne mobile mapping system is one of the most advanced geospatial data acquisition technologies of geo-information industry.Vehicle_borne mobile mapping system emerged in the 1990s,after 20 years of continuous development,system integration has been more mature.At present,the research mainly focused on data processing automatically and the combination of multi-sensor data.Laser scanners and CCD cameras are the core sensors of the system.Images provide abundant Spectrum,texture and semantic information,contain continuous features.At the same time,laser scanning data has the characteristics of high density,high precision and high resolution.Therefore,the fusion of the scanning data and the optical image can get the colorized point cloud,realizing the complementary advantages.High-precision registration of laser scanning data and optical image is the premise and key prerequisite for the using two kinds of data.During the data processing of vehicle-borne mobile mapping system,the registration of vehicle-borne laser scanning data and optical image is critical.The basic theory of vehicle-borne mobile mapping system is introduced.And the basic problems of the registration of laser scanning data and optical image data are studied and summarized.A high-precision and automatic registration method for vehicle laser scanning data and optical image is proposed,solving the dynamic data registration.The method uses the gray level information as the registration element,mutual information as the similarity measurement,Barzilai-Borwein(BB)algorithm as registration strategy and pinhole camera projection model as the imaging model with the registration of depth maps which derived from segmented distortion-correct optical image and geometric constraint vehicle-borne laser scanning data,getting high-precision and automatic registration coefficient.Experimental results show that,the registration method is not only feasible,but also has certain robustness and comparatively high precision,meeting the needs of practical application.