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hal.structure.identifierLaboratoire Bordelais de Recherche en Informatique [LaBRI]
dc.contributor.authorBIASUTTI, Pierre
hal.structure.identifierInstitut de Mathématiques de Bordeaux [IMB]
dc.contributor.authorAUJOL, Jean-François
hal.structure.identifierMéthodes d'Analyses pour le Traitement d'Images et la Stéréorestitution [MATIS]
dc.contributor.authorBRÉDIF, Mathieu
hal.structure.identifierLaboratoire Bordelais de Recherche en Informatique [LaBRI]
dc.contributor.authorBUGEAU, Aurélie
dc.date.accessioned2024-04-04T03:01:25Z
dc.date.available2024-04-04T03:01:25Z
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/192899
dc.description.abstractEnMobile Mapping Systems are now commonly used in large urban acquisition campaigns. They are often equiped with LiDAR sensors and optical cameras, providing very large multimodal datasets. The fusion of both modalities serves different purposes such as point cloud colorization, geometry enhancement or object detection. However, this fusion task cannot be done directly as both modalities are only coarsely registered. This paper presents a fully automatic approach for LiDAR projection and optical image registration refinement based on LiDAR point cloud 3D renderings. First, a coarse 3D mesh is generated from the LiDAR point cloud using the sensor topology. Then, the mesh is rendered in the image domain. After that, a variational approach is used to align the rendering with the optical image. This method achieves high quality results while performing in very low computational time. Results on real data demonstrate the efficiency of the model for aligning LiDAR projections and optical images.
dc.language.isoen
dc.title.enFast Image and LiDAR alignment based on 3D rendering in sensor topology
dc.typeDocument de travail - Pré-publication
dc.subject.halInformatique [cs]/Vision par ordinateur et reconnaissance de formes [cs.CV]
bordeaux.hal.laboratoriesInstitut de Mathématiques de Bordeaux (IMB) - UMR 5251*
bordeaux.institutionUniversité de Bordeaux
bordeaux.institutionBordeaux INP
bordeaux.institutionCNRS
hal.identifierhal-02100715
hal.version1
hal.origin.linkhttps://hal.archives-ouvertes.fr//hal-02100715v1
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.au=BIASUTTI,%20Pierre&AUJOL,%20Jean-Fran%C3%A7ois&BR%C3%89DIF,%20Mathieu&BUGEAU,%20Aur%C3%A9lie&rft.genre=preprint


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