Fig. 1. Flowchart of the proposed registration method

Fig. 2. Schematic illustration of the junction structure

Fig. 3. Projection geometry of the junction structure in two-views

Fig. 4. Automatic detection of conjugate LiDAR plane points

Fig. 5. Registration model under constraints of junction structure features

Fig. 6. Overview of the image data and LiDAR point cloud for the Guangzhou data set

Fig. 7. Overview of check points for the Ningbo data set

Fig. 8. Measurements of image junction structures for the Guangzhou data set

Fig. 9. LiDAR point cloud colored by aerial images for the Guangzhou data set

Fig. 10. Comparison of the fitness of LiDAR points to images before and after registration for the Guangzhou data

Fig. 11. Comparison of the fitness of LiDAR points to images before and after registration for the Ningbo data

Fig. 12. Comparison of registration accuracy using thinning point clouds for the Guangzhou data set

Fig. 13. Comparison of registration accuracy using thinning point clouds for the Ningbo data set