Research On Image Fusion Of Imaging Laser Radar And Camera

The imaging ladar provides directly precise and accurate 3D information. In addition, it is independent from external lighting conditions. On the other side, camera has high resolution, it can acquire texture-maps based on real colour- photographs, which accord with human's vision habit and thus make target easier to recognize. Through fusing the images from the camera and the imaging ladar in effect, we can get a 3D and colour image, which is useful for using and processing 3D iamge. It is a technique that has important application value and extensive development prospect in many fields such as 3D reconstruction, guided missile control, virtual reality, machine vision and so on.Based on the detailed analysis of present research status on fusing the images from the camera and the imaging ladar, the related theory and critical technology, such as, the imaging mode and ranging methods of imaging, the imaging model of the camera, system calibration and texture mapping, have been discussed in detail in this dissertation. A suitable calibration target has been made by utilizing the imaging principle of the ladar. The accuracy of extracting the three-dimensional coordinates is improved by using least square method. Then, calibration experiments have been made by using direct linear transformation. On these basis, a suitable method to assess our system calibration error has established, and the calibrate method using in our paper has been assessed by simulation. Meanwhile, we use the results of the simulation to guide the design of the calibration target. Finally, a series of experiments have carried out and expected results are obtained after data processing procedure, which verify the correctness of the proposed theories and algorithms.