Abstract
Comprehensive 3D modeling of our environment requires integration of terrestrial and airborne data, which is collected, preferably, using laser scanning and photogrammetric methods. However, integration of these multi-source data requires accurate relative orientations. In this article, two methods for solving relative orientation problems are presented. The first method includes registration by minimizing the distances between of an airborne laser point cloud and a 3D model. The 3D model was derived from photogrammetric measurements and terrestrial laser scanning points. The first method was used as a reference and for validation. Having completed registration in the object space, the relative orientation between images and laser point cloud is known. The second method utilizes an interactive orientation method between a multi-scale image block and a laser point cloud. The multi-scale image block includes both aerial and terrestrial images. Experiments with the multi-scale image block revealed that the accuracy of a relative orientation increased when more images were included in the block. The orientations of the first and second methods were compared. The comparison showed that correct rotations were the most difficult to detect accurately by using the interactive method. Because the interactive method forces laser scanning data to fit with the images, inaccurate rotations cause corresponding shifts to image positions. However, in a test case, in which the orientation differences included only shifts, the interactive method could solve the relative orientation of an aerial image and airborne laser scanning data repeatedly within a couple of centimeters.
Highlights
Measured 3D information from our environment has become more and more important in our daily life
After the iterative closest point (ICP) registration, laser scanning data and the reference image block were in the same coordinate system
Because the airborne laser scanning data was in the same coordinate system as the reference image block, the resulting orientations of the interactive method were comparable with the reference orientations of the original reference image block
Summary
Measured 3D information from our environment has become more and more important in our daily life. Laser scanning has become popular due to its fast 3D point cloud acquisition, improvements in post processing software and high usability of the data generated. Complete 3D modeling requires both terrestrial and airborne data [1]. Both perspectives should preferably include both laser scanning data and images. A terrestrial point of view does not allow seeing all roof shapes, and nadir perspective prevents accurate modeling of vertical structures. Different perspectives offer additional information about the behavior and quality of data. Terrestrial images are excellent for assuring the quality of airborne laser scanning data [2,3,4,5]
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