Publication

Extraction of Image-to-Lidar Correspondences and their Impact on Optimal Sensor Fusion

Jan Skaloud
2026

Abstract

Abstract. This work extends our initial proof-of-concept via emulations on the benefits of relative spatial constraints between imagery and lidar point clouds in a factor graph based optimization with satellite positioning (GNSS) and raw inertial readings (Mouzakidou et al., 2025). Here, we demonstrate practically the automatic extraction and integration of 2D-3D correspondences established in the 3D domain within rough natural terrain flown over by an aircraft with sensors of high quality. We show that considering cross-domain (i.e. 2D-3D) constraints enables the calibration of internal camera parameters and its boresight on job, i.e. within mapping flight configurations, where conventional approaches fail. The common optimization of raw IMU data with such constraints improves the respective agreements between the lidar and image dense clouds, achieving consistency at ground resolution level, which is not the case for the conventional (standard) processing of acquired data.

Official source

https://infoscience.epfl.ch/entities/publication/cd293d46-69fa-4d13-bda0-c20d298aba41

About this result

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Graph Chat

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Jan Skaloud
2026

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/cd293d46-69fa-4d13-bda0-c20d298aba41

About this result

Related concepts (32)

3D scanning

3D scanner is the process of analyzing a real-world object or environment to collect three dimensional data of its shape and possibly its appearance (e.g. color). The collected data can then be used to construct digital 3D models. A 3D scanner can be based on many different technologies, each with its own limitations, advantages and costs. Many limitations in the kind of objects that can be digitised are still present. For example, optical technology may encounter many difficulties with dark, shiny, reflective or transparent objects.

Lidar

Lidar (ˈlaɪdɑːr, also LIDAR, LiDAR or LADAR, an acronym of "light detection and ranging" or "laser imaging, detection, and ranging") is a method for determining ranges by targeting an object or a surface with a laser and measuring the time for the reflected light to return to the receiver. LIDAR may operate in a fixed direction (e.g., vertical) or it may scan multiple directions, in which case it is known as LIDAR scanning or 3D laser scanning, a special combination of 3-D scanning and laser scanning.

Point-set registration

In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (e.g., scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose.

Related publications (2)

Extraction of Image-to-Lidar Correspondences and their Impact on Optimal Sensor Fusion

Chat with Graph Search

Synthetic to Authentic: Transferring Realism to 3D Face Renderings for Boosting Face Recognition

Augmented Reality on your Smartphones