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Laser & Optoelectronics Progress, Volume. 60, Issue 6, 0628010(2023)

Fusion and Visualization of Three-Dimensional Point Cloud and Optical Images

Jia Zhang1, Yi Tang1、*, Ziyu Bian2, Tianyu Sun1, and Kaijie Zhong2
Author Affiliations
  • 1Key Laboratory of Photoelectronic Imaging Technology and System, Ministry of Education, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
  • 2Longrays Photoelectric Technology in Suzhou Co., Ltd., Suzhou 215300, Jiangsu , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (14)
    Equations (5)
    References (15)
    Cited By (3)
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    Paper Information
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    Figures & Tables(14)
    Fusion process of 3D laser point cloud and optical image

    Fig. 1. Fusion process of 3D laser point cloud and optical image

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    Calibration schematic

    Fig. 2. Calibration schematic

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    Experimental scene diagram. (a) Site layout; (b) actual scene of the experiment

    Fig. 3. Experimental scene diagram. (a) Site layout; (b) actual scene of the experiment

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    Images for camera calibration

    Fig. 4. Images for camera calibration

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    Common feature point extraction. (a) Feature point extraction from optical image; (b) linear result extracted by RANSAC; (c) feature point extraction from point cloud

    Fig. 5. Common feature point extraction. (a) Feature point extraction from optical image; (b) linear result extracted by RANSAC; (c) feature point extraction from point cloud

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    Original image of experiment 1. (a) Optical image; (b) point cloud

    Fig. 6. Original image of experiment 1. (a) Optical image; (b) point cloud

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    Pseudo color point cloud of experiment 1. (a) Pseudo color point cloud; (b) pseudo color point cloud from different angles

    Fig. 7. Pseudo color point cloud of experiment 1. (a) Pseudo color point cloud; (b) pseudo color point cloud from different angles

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    Fusion image of experiment 1. (a) Fusion image; (b) fusion image from different angles

    Fig. 8. Fusion image of experiment 1. (a) Fusion image; (b) fusion image from different angles

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    Original image of experiment 2. (a) Optical image; (b) point cloud

    Fig. 9. Original image of experiment 2. (a) Optical image; (b) point cloud

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    Pseudo color point cloud of experiment 2. (a) Pseudo color point cloud; (b) pseudo color point cloud from different angles

    Fig. 10. Pseudo color point cloud of experiment 2. (a) Pseudo color point cloud; (b) pseudo color point cloud from different angles

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    Fusion image of experiment 2. (a) Fusion image; (b) fusion image from different angles

    Fig. 11. Fusion image of experiment 2. (a) Fusion image; (b) fusion image from different angles

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    • Table 1. Parameter information of LIVOX-Horizon lidar

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      Table 1. Parameter information of LIVOX-Horizon lidar

      ParameterValue
      Detection range /m260
      Distance accuracy /cm2
      Precision of angle /（°）0.05
      Field of view angle /［（°）×（°）］81.7×25.1
      Point cloud data rate /s-1240000

    • Table 2. Parameter information of MV-CA013-20GC HIKVISON camera

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      Table 2. Parameter information of MV-CA013-20GC HIKVISON camera

      ParameterValue
      Resolution1280×1024
      Pixel size /（μm×μm）4.8×4.8
      Focal length /mm35

    • Table 3. Comparison of calibration accuracy of different algorithms

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      Table 3. Comparison of calibration accuracy of different algorithms

      MethodReprojection error /pixel
      Proposed algorithm2.27
      Method based on manual matching Method based on trapezoidal board4.70
      3.57
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    Jia Zhang, Yi Tang, Ziyu Bian, Tianyu Sun, Kaijie Zhong. Fusion and Visualization of Three-Dimensional Point Cloud and Optical Images[J]. Laser & Optoelectronics Progress, 2023, 60(6): 0628010

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Jan. 10, 2022

    Accepted: Jan. 21, 2022

    Published Online: Mar. 16, 2023

    The Author Email: Yi Tang (tangyi4510@bit.edu.cn)

    DOI:10.3788/LOP220566

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology