Integrated Processing of Terrestrial Laser Scanner Data and Fisheye-camera Image Data

The paper presents the integration of a geometric model of fisheye lenses and a geometric terrestrial laser scanner model in a bundle block adjustment. The model allows for a full integration of hemi-spherical fisheye imagery into terrestrial laserscanner data processing schemes. Both the laserscanner and fisheye geometric model are extended by additional parameters to compensate for deviations from the ideal model and to optimize the accuracy potential. The results of the combined bundle adjustment are analyzed and the advantages of the proposed approach will be discussed in detail. For this purpose, several laser scans with a Riegl LMSZ420i as well as several fisheye images were recorded in a calibration room equipped with ca. 100 reference points. The laser scans and the fisheye images were processed in different configurations, the resulting standard deviation of the calculated object point coordinates are analyzed and compared. Finally the calibration results of both terrestrial laser scanner and fisheye lens camera as well as the accuracy of the observations resulting from the variance component estimation will be presented. The results show that the 3D coordinate determination precision can be enhanced significantly by the integrated processing, and that scanner and camera aid one another in the self-calibration.