| Author: | Yang, Jianbo |
| Title: | A method of fusing image sequence and LiDAR point cloud for reconstructing 3D model |
| Advisors: | Shi, Wenzhong John (LSGI) |
| Degree: | M.Sc. |
| Year: | 2018 |
| Subject: | City planning -- China -- Hong Kong Older people -- Services for -- China -- Hong Kong Aging -- China -- Hong Kong Hong Kong Polytechnic University -- Dissertations |
| Department: | Faculty of Construction and Environment Department of Land Surveying and Geo-Informatics |
| Pages: | xvi, 84 pages : color illustrations |
| Language: | English |
| Abstract: | In the thesis, the main work is the data fusion of images captured by the camera and point cloud generated by LiDAR. To achieve the purpose, the image acquisition procedure is stated including the data communication between camera and computer, camera Imaging model, camera calibration and registration between camera and LiDAR. Registration between point cloud and images is presented to acquire the transformation relation of Lidar and camera. Then a novel method is proposed to fuse the radiometric information of images and geometric information of the point cloud. Due to a large number of points, point cloud needs to be cropped at first to extract those points in FOV of the camera. Then the depth index map is created according to the resolution of images. Laser point cloud is colorized according to the image and depth index map. In addition, the method based on perspective projection is able to deal with the occluded problems. Finally, the results of different frames are fused based on the assigned weight value. Experimental results confirm that the proposed data fusion method is practicable and feasible for most localization or mapping projects, especially where elevation accuracy is not a strict demand. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 991022385340203411.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 5.72 MB | Adobe PDF | View/Open |
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