Automatic visibility estimation of a LiDAR point cloud

Pierre Biasutti (1, 2) , Jean-François Aujol (2) , Mathieu Brédif (3) , Aurélie Bugeau (1)

1 LaBRI - Laboratoire Bordelais de Recherche en Informatique
2 IMB - Institut de Mathématiques de Bordeaux
3 MATIS - Méthodes d'Analyses pour le Traitement d'Images et la Stéréorestitution

This paper presents a novel methodology to estimate if a point of a LiDAR point cloud is visible from a given point of viewcorresponding to the optical center of a camera. Visibility estimation is essential in order to improve LiDAR and optical data fusion. The LiDAR point cloud is first projected on the image plane of the camera. Then, a criteron on the neighborhood of each point is used to automatically estimate which points are visible from the given point of view.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Pierre Biasutti, Jean-François Aujol, Mathieu Brédif, Aurélie Bugeau. Automatic visibility estimation of a LiDAR point cloud. 2018. ⟨hal-01812061v1⟩