期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2009
卷号：XXXVIII-5/W1
出版社：Copernicus Publications
摘要：In our work we are interested in 'Modeling the Reality': Scenes are reconstructed in a combination of highly accurate geometry and real radiometric textures. Thereby, a common problem is the difficulty to gain colored panoramic 3D data which are highly accurate and have high resolution. Aligned color and range data is the basis for continuative modeling tasks, e.g. textured surface generation, 'as built' models, 3D object recognition and other virtual reality applications. We present a multi-sensor calibration and registration framework that fuses highly accurate and robust colored panoramic 2.5D data. To achieve this, we use a panoramic 2.5D laser scanner in combination with a 2D array camera. To simplify the alignment between multiple viewpoints, we additionally make use of an electronic spirit-level, which is integrated in the scanner system. The applicability of our system is validated on a historical site called 'Kirche Seefeld'. In summary, we present a highly accurate multi sensor system including robust methods for the calibration and registration of the data streams and its fusion to a dense 2.5D point cloud
关键词：Terrestrial Laser Scanning; Range Data; Color Scanning; Sensor Calibration; Registration; Data Fusion
