In this paper, uniform point drift registration method is used in the fusion of point cloud which is sampled by lidar and binocular stereo vision. In this method, the two groups of point cloud are considered as one which submit to mixed probability distribution and the other one which is sampled from the points submit to mixed probability distribution. The transformation estimation between the two groups of the point cloud is maximum likelihood estimation. The transformation is required to take overall smoothness. In other words, the point clouds should be uniformed. The uniform point drift method can solve the registration problem efficiently for 3D reconstruction. Usually the time can be compressed by 10%. |
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Clouds
LIDAR
Data modeling
Visual process modeling
3D modeling
Data fusion
3D vision