This paper presents a registration method which based on straight lines primitive. Firstly, 2D straight lines are extracted
from aerial images using Canny operator and straight line fitting. In the similar way, 3D straight lines are extracted from
LiDAR range images which derive from laser scanning point cloud. Secondly, 3D straight lines are projected to aerial
images using collinearity equations and Position and Orientation System (POS) data. Then the corresponding lines are
determined by straight line error. At last, each image's new exterior orientation elements are calculated by generalized
point (straight line) photogrammetry.
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