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Registration of Aerial Image with Airborne LiDAR Data Based on Plücker Line
SHENG Qinghong, CHEN Shuwen, FEI Lijia, LIU Jianfeng, WANG Huinan
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
First author: SHENG Qinghong(1978-),female, PhD, associate professor, majors in digital photogrammetry and remote sensing image processing. E-mail： qhsheng@nuaa.edu.cn
Abstract: Registration of aerial image with airborne LiDAR data is a key to feature extraction. A registration model based on Plücker line is proposed. The relative position and attitude relationship between the conjugate lines in LiDAR and image is determined based on Plücker linear equation, which describes line transformation in space, then coplanarity condition equation is established. Finally, coordinate transformation between image point and corresponding LiDAR point is achieved by the spiral movement of Plücker lines in the image. The registration model of Plücker linear coplanarity condition equation is simple, and jointly describes the rotation and translation to avoid coupling error between them, so the accuracy is approved. This research provides technical support for high-quality earth spatial information acquisition.
Key words: photogrammetry     LiDAR     registration     Plücker line     coplanarity condition

1 引 言

2 基于Plücker直线的LiDAR点云与航空影像配准模型 2.1 Plücker直线

 图 1 三维线空间中的Plücker坐标 Fig. 1 Plücker coordinate of an arbitrary line in space

2.2 Plücker直线表示的空间螺旋运动

 图 2 Plücker直线表示的空间螺旋运动 Fig. 2 Plücker linear spiral movement of space
2.3 Plücker直线共面条件配准方程

 图 3 Plücker直线共面条件配准模型 Fig. 3 The registration model of Plücker linear coplanar condition equation

p、P、GS 4点间的共面条件方程为[24]

A1=l1(q20+q2x-q2y-q2z)+2l2(qyqx+q0qz)+2l3(qzqx-q0qy)

A2=l2(q20-q2x+q2y-q2z)+2l1(qxqy-q0qz)+2l3(qzqy+q0qx)

A3=2[C(xq0yqzfqy)+D(xqz+yq0+fqx)+E(－xqy+yqxfq0)+mrx+nry+hrz]

A4=2[C(xqx+yqyfqz)+D(xqyyqx+fq0)+E(xqz+yq0+fqx)－mr0nrz+hry]

A5=2[C(－xqy+yqxfq0)+D(xqx+yqyfqz)+E(－xq0+yqz+fqy)+mrznr0hrx]

A6=2[C(－xqzyq0fqx)+(Dxq0yqzfqy)+E(xqx+yqyfqz)－mry+nrxhr0]

A7=2(－mqxnqyhqz)；A8=2(mq0+nqzhqy)

A9=2(－mqz+nq0+hqx)；A10=2(mqynqx+hq0)；F=Cup+Dvp+Ewp

l1=(wPYQvPZQ)；l2=(uPZ′<QwPXQ)；l3=(vPXQuPYQ)；l4=(vPZPwPYP)

l5=(wPXPuPZP)；l6=(uPYPvPXP)；m=－(l1+l4)；n=－(l2+l5)；h=－(l3+l6)

C=YPZGYGZPD=ZPXGZGXPE=XPYGXGYP

(XP,YP,ZP)=(XPXS,YPYS,ZPZS)；XG,YG,ZG=(XGXS,YGYS,ZGZS)

2.4 平差解算

A=[A1A2A3A4A5A6A7A8A9A10]

X=[dxpdypdq0dqxdqydqzdr0drxdrydrz]T

W=[½(q02+qx2+qy2+qz2－1)q0r0+qxrx+qyry+qzrz]T

2.5 精度评价

3 试验结果与分析

 图 4 同名直线分布图 Fig. 4 Distribution of conjugate lines

 配准方法 dXS/m dYS/m dZS/m dφ/(°) dω/(°) dκ/(°) 中误差m 0/m 计算时间/s 欧拉角法 2.039794 0.911637 0.984613 0.162016 0.084349 0.100372 0.000022 0.001000 Plücker直线法 1.888481 0.844012 0.911575 0.086295 0.059783 0.052246 0.000020 0.001000

 图 5 配准前后对比 Fig. 5 Comparison before and after registration

 序号 检查点到直线的距离/像素 误差/像素 1 -1.427 1.167 0.083 -0.059 2 0.993 -1.154 0.480 0.106 3 0.035 -0.229 0.498 0.101 4 -0.063 0.384 0.165 0.162 5 0.768 0.731 0.061 0.520
4 结 论

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http://dx.doi.org/10.11947/j.AGCS.2015.20140123

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#### 文章信息

SHENG Qinghong, CHEN Shuwen, FEI Lijia, LIU Jianfeng, WANG Huinan

Registration of Aerial Image with Airborne LiDAR Data Based on Plücker Line

Acta Geodaeticaet Cartographica Sinica, 2015, 44(7): 761-767.
http://dx.doi.org/10.11947/j.AGCS.2015.20140123