Skyline matching based camera orientation from images and mobile mapping point clouds

Download statistics - Document (COUNTER):

Hofmann, S.; Eggert, D.; Brenner, C.: Skyline matching based camera orientation from images and mobile mapping point clouds. In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences II-5 (2014), S. 181-188. DOI:

Repository version

To cite the version in the repository, please use this identifier:

Selected time period:


Sum total of downloads: 110

Mobile Mapping is widely used for collecting large amounts of geo-referenced data. An important role plays sensor fusion, in order to evaluate multiple sensors such as laser scanner and cameras jointly. This requires to determine the relative orientation between sensors. Based on data of a RIEGL VMX-250 mobile mapping system equipped with two laser scanners, four optional cameras, and a highly precise GNSS/IMU system, we propose an approach to improve camera orientations. A manually determined orientation is used as an initial approximation for matching a large number of points in optical images and the corresponding projected scan images. The search space of the point correspondences is reduced to skylines found in both the optical as well as the scan image. The skyline determination is based on alpha shapes, the actual matching is done via an adapted ICP algorithm. The approximate values of the relative orientation are used as starting values for an iterative resection process. Outliers are removed at several stages of the process. Our approach is fully automatic and improves the camera orientation significantly.
License of this version: CC BY 3.0 Unported
Document Type: Article
Publishing status: publishedVersion
Issue Date: 2014
Appears in Collections:Fakultät für Bauingenieurwesen und Geodäsie

distribution of downloads over the selected time period:

downloads by country:

pos. country downloads
total perc.
1 image of flag of Germany Germany 51 46.36%
2 image of flag of United States United States 17 15.45%
3 image of flag of China China 14 12.73%
4 image of flag of Korea, Republic of Korea, Republic of 5 4.55%
5 image of flag of No geo information available No geo information available 4 3.64%
6 image of flag of Hong Kong Hong Kong 3 2.73%
7 image of flag of United Kingdom United Kingdom 3 2.73%
8 image of flag of Russian Federation Russian Federation 2 1.82%
9 image of flag of Nepal Nepal 2 1.82%
10 image of flag of Austria Austria 2 1.82%
    other countries 7 6.36%

Further download figures and rankings:


Zur Erhebung der Downloadstatistiken kommen entsprechend dem „COUNTER Code of Practice for e-Resources“ international anerkannte Regeln und Normen zur Anwendung. COUNTER ist eine internationale Non-Profit-Organisation, in der Bibliotheksverbände, Datenbankanbieter und Verlage gemeinsam an Standards zur Erhebung, Speicherung und Verarbeitung von Nutzungsdaten elektronischer Ressourcen arbeiten, welche so Objektivität und Vergleichbarkeit gewährleisten sollen. Es werden hierbei ausschließlich Zugriffe auf die entsprechenden Volltexte ausgewertet, keine Aufrufe der Website an sich.

Search the repository