Orientation of Airborne Laser Scanning Point Clouds with Multi-View, Multi-Scale Image Blocks 英文参考文献.docVIP

Sensors 2009, 9, 6008-6027; doi:10.3390/OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Orientation of Airborne Laser Scanning Point Clouds with Multi-View, Multi-Scale Image Blocks Petri R?nnholm 1,*, Hannu Hyypp? 1, Juha Hyypp? 2 and Henrik Haggrén 1 1 Institute of Photogrammetry and Remote Sensing, Helsinki University of Technology, P.O. Box 1200, FI-02015 TKK, Finland; E-Mails: hannu.hyyppa@tkk.fi; henrik.haggren@tkk.fi 2 Department of Remote Sensing and Photogrammetry, Finnish Geodetic Institute, P.O. Box 15, 02431 Masala, Finland; E-Mail: juha.hyyppa@fgi.fi * Author to whom correspondence should be addressed; E-Mail: petri.ronnholm@tkk.fi; Tel.: +358 094 513 905; Fax: +358 094 513 945 Received: 6 May 2009; in revised form: 19 June 2009 / Accepted: 15 July 2009 / Published: 29 July 2009 Abstract: Comprehensive 3D modeling of our environment requires integration of terrestrial and airborne data, which is collected, preferably, using laser scanning and photogrammetric methods. However, integration of these multi-source data requires accurate relative orientations. In this article, two methods for solving relative orientation problems are presented. The first method includes registration by minimizing the distances between of an airborne laser point cloud and a 3D model. The 3D model was derived from photogrammetric measurements and terrestrial laser scanning points. The first method was used as a reference and for validation. Having completed registration in the object space, the relative orientation between images and laser point cloud is known. The second method utilizes an interactive orientation method between a multi-scale image block and a laser point cloud. The multi-scale image block includes both aerial and terrestrial images. Experiments with the multi-scale image block revealed that the accuracy of a relative orientation increased when more image