ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-1, 167-173, 2016
http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-1/167/2016/
doi:10.5194/isprs-annals-III-1-167-2016
 
02 Jun 2016
REFINEMENT OF COLORED MOBILE MAPPING DATA USING INTENSITY IMAGES
T. Yamakawa, K. Fukano, R. Onodera, and H. Masuda Dept. of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan
Keywords: Point-Cloud, Mobile Mapping System, Reflection Intensity, Calibration, Edge Detection, Color Information Abstract. Mobile mapping systems (MMS) can capture dense point-clouds of urban scenes. For visualizing realistic scenes using point-clouds, RGB colors have to be added to point-clouds. To generate colored point-clouds in a post-process, each point is projected onto camera images and a RGB color is copied to the point at the projected position. However, incorrect colors are often added to point-clouds because of the misalignment of laser scanners, the calibration errors of cameras and laser scanners, or the failure of GPS acquisition. In this paper, we propose a new method to correct RGB colors of point-clouds captured by a MMS. In our method, RGB colors of a point-cloud are corrected by comparing intensity images and RGB images. However, since a MMS outputs sparse and anisotropic point-clouds, regular images cannot be obtained from intensities of points. Therefore, we convert a point-cloud into a mesh model and project triangle faces onto image space, on which regular lattices are defined. Then we extract edge features from intensity images and RGB images, and detect their correspondences. In our experiments, our method worked very well for correcting RGB colors of point-clouds captured by a MMS.
Conference paper (PDF, 1944 KB)


Citation: Yamakawa, T., Fukano, K., Onodera, R., and Masuda, H.: REFINEMENT OF COLORED MOBILE MAPPING DATA USING INTENSITY IMAGES, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-1, 167-173, doi:10.5194/isprs-annals-III-1-167-2016, 2016.

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