Fig. 1. Schematic of coordinate system transformation for fusion process

Fig. 2. Collinear relationship in spherical coordinate system

Fig. 3. Panoramic sphere and panoramic image transformation

Fig. 4. Image matching based on time series

Fig. 5. True color point cloud with black holes and stitching seam

Fig. 6. Black hole area of panoramic ball

Fig. 7. Definition of blind zone

Fig. 8. Comparison of black hole (a) before and (b) after repair

Fig. 9. Final integration results. (a) Panoramic image; (b) render by intensity; (c) true color point cloud

Fig. 10. True color point cloud of the road

Fig. 11. Partial view of the road