Registration of LIDAR and optical images using multiple geometric features

This paper describes an algorithm framework for registration of airborne based laser scanning data (LIDAR) and optical images by using multiple types of geometric features. The technique utilizes 2D/3D correspondences between points and lines, and it could easily be extended to general features. In generalized point photogrammetry, all lines and curves are consists of points, which could be describe in collinear equation, so it cloud represent all kinds of homogeneous features in an uniform framework. For many overlapping images in a block, the images are registered to the laser data by the hybrid block adjustment based on an integrated optimization procedure. In addition to the theoretical method, the paper presents a experimental analysis the sensitivity and robustness of this approach.