Multi Point Cloud Integration based on Observation Vectors between Stereo Images

스테레오 영상 간 관측 벡터에 기반한 다중 포인트 클라우드 통합

Yoon, Wansang;Kim, Han-gyeol;Rhee, Sooahm

  • Received : 2019.10.16
  • Accepted : 2019.10.25
  • Published : 2019.10.31


In this paper, we present how to create a point cloud for a target area using multiple unmanned aerial vehicle images and to remove the gaps and overlapping points between datasets. For this purpose, first, IBA (Incremental Bundle Adjustment) technique was applied to correct the position and attitude of UAV platform. We generate a point cloud by using MDR (Multi-Dimensional Relaxation) matching technique. Next, we register point clouds based on observation vectors between stereo images by doing this we remove gaps between point clouds which are generated from different stereo pairs. Finally, we applied an occupancy grids based integration algorithm to remove duplicated points to create an integrated point cloud. The experiments were performed using UAV images, and our experiments show that it is possible to remove gaps and duplicate points between point clouds generated from different stereo pairs.


UAV Photogrammetry;Sensor modeling;Image matching;Point Cloud registration;Point Cloud Fusion


Grant : 수요처 맞춤형 실감형 3D 공 간정보 갱신 및 활용지원 기술개발

Supported by : 국토교통부