基于灰度相似性的激光点云与全景影像配准
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范光宇,宫宇宸,饶蕾,陈年生
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Registration of laser point cloud and panoramic image based on gray similarity
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Guang-yu FAN,Yu-chen GONG,Lei RAO,Nian-sheng CHEN
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| 表 1 配准误差统计 |
| Tab.1 Statistics of registration error |
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| 点号 | 激光点云平面
像素点坐标 | | 全景影像像
素点坐标 | | e/像素 | | X | Y | X | Y | eX | eY | ep | | 1 | 123 | 648 | | 122 | 650 | | 1 | 2 | 2.23 | | 2 | 1474 | 680 | 1475 | 681 | 1 | 1 | 1.41 | | 3 | 1568 | 755 | 1567 | 757 | 1 | 2 | 2.23 | | 4 | 1748 | 804 | 1749 | 804 | 1 | 0 | 1.00 | | 5 | 2390 | 335 | 2390 | 333 | 0 | 2 | 2.00 | | 6 | 1506 | 779 | 1505 | 780 | 1 | 1 | 1.41 | | 7 | 42 | 623 | 39 | 620 | 3 | 3 | 4.24 | | 8 | 817 | 440 | 815 | 443 | 2 | 3 | 3.60 | | 9 | 2492 | 188 | 2492 | 187 | 0 | 1 | 1.00 | | 10 | 2351 | 756 | 2350 | 756 | 1 | 0 | 1.00 |
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