基于灰度相似性的激光点云与全景影像配准
范光宇,宫宇宸,饶蕾,陈年生

Registration of laser point cloud and panoramic image based on gray similarity
Guang-yu FAN,Yu-chen GONG,Lei RAO,Nian-sheng CHEN
图 8 20组数据的平均配准误差
Fig.8 Average registration error of 20 groups of data