Journal of the Indian Society of Remote Sensing

, Volume 46, Issue 12, pp 1963–1973 | Cite as

Automatic Registration Between Low-Altitude LiDAR Point Clouds and Aerial Images Using Road Features

  • Peipei HeEmail author
  • Xinjing Wang
  • Youchuan Wan
  • Jingzhong Xu
  • Wei Yang
Research Article


Among the many means of acquiring surface information, low-altitude light detection and ranging (LiDAR) systems (e.g., unmanned aerial vehicle LiDAR, UAV-LiDAR) have become an important approach to accessing geospatial information. Considering the lower level of hardware technology in low-altitude LiDAR systems compared to that in airborne LiDAR, and the greater flexibility in-flight, registration procedures must be first performed to facilitate the fusion of laser point data and aerial images. The corner points and edges of buildings are frequently used for the automatic registration of aerial imagery with LiDAR data. Although aerial images and LiDAR data provide powerful support for building detection, adaptive edge detection for all types of building shapes is difficult. To deal with the weakness of building edge detection and reduce matching-related computation, the study presents a novel automatic registration method for aerial images, with LiDAR data, on the basis of main-road information in urban areas. Firstly, vector road centerlines are extracted from raw LiDAR data and then projected onto related aerial images with the use of coarse exterior orientation parameters (EOPs). Secondly, the corresponding image road features of each LiDAR vector road are determined using an improved total rectangle-matching approach. Finally, the endpoints of the conjugate road features obtained from the LiDAR data and aerial images are used as ground control points in space resection adjustment to refine the EOPs; an iterative strategy is used to obtain optimal matching results. Experimental results using road features verify the feasibility, robustness and accuracy of the proposed approach.


Low-altitude LiDAR data Aerial imagery Road feature Registration 



This work was supported in part by National Science and Technology Pillar Program under Grant No. 2014BAL05B07 and by National Natural Science Foundation of China under Grant No. 41501562.


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Copyright information

© Indian Society of Remote Sensing 2018

Authors and Affiliations

  • Peipei He
    • 1
    Email author
  • Xinjing Wang
    • 1
  • Youchuan Wan
    • 2
  • Jingzhong Xu
    • 2
  • Wei Yang
    • 2
  1. 1.School of Resources and EnvironmentNorth China University of Water Resources and Electric PowerZhengzhouChina
  2. 2.School of Remote Sensing and Information EngineeringWuhan UniversityWuhanChina

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