OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Clouds

arXiv:2404.04693v1 Announce Type: new
Abstract: 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 …

arxiv cs.cv cs.ro fusion global lidar optimization type