OmniColor: LiDARと360度カメラの融合による点群彩色のための大域的カメラ姿勢最適化
OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Clouds
LiDAR点群と360度パノラマ画像を組み合わせ、特徴抽出なしに測光一貫性を直接最大化してカメラ姿勢を最適化し、点群を高精度に彩色する手法を提案。
著者: Bonan Liu, Guoyang Zhao, Jianhao Jiao, Guang Cai, Chengyang Li, Handi Yin, Yuyang Wang, Ming Liu, Pan Hui
分類: cs.CV, cs.RO
原文アブストラクト
A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representation is now commonly used in 3D reconstruction tasks relying on cameras and LiDARs. However, fusing data from these two types of sensors is poorly performed in many existing frameworks, leading to unsatisfactory mapping results, mainly due to inaccurate camera poses. This paper presents OmniColor, a novel and efficient algorithm to colorize point clouds using an independent 360-degree camera. Given a LiDAR-based point cloud and a sequence of panorama images with initial coarse camera poses, our objective is to jointly optimize the poses of all frames for mapping images onto geometric reconstructions. Our pipeline works in an off-the-shelf manner that does not require any feature extraction or matching process. Instead, we find optimal poses by directly maximizing the photometric consistency of LiDAR maps. In experiments, we show that our method can overcome the severe visual distortion of omnidirectional images and greatly benefit from the wide field of view (FOV) of 360-degree cameras to reconstruct various scenarios with accuracy and stability. The code will be released at https://github.com/liubonan123/OmniColor/.
