Advanced Mobile Coloring

Arttu Soininen
 Colored Mobile Point Cloud as City Model

Accurately positioned model

Contains all features visible from the roads driven
– Road surfaces
– Building walls
– Trees
– Poles
– Traffic and other signs
– Overhead wires
– Fences
– ...

More structures than is possible to produce as a vector model

Potential for very automatic production

Fundamentally easiest to transfer from one software to another
(xyz+rgb+class)

Vector Model
+ Can attach additional data to
vector objects
+ Small in size
- Impossible to vectorize all
visible infrastructure
- Difficult to transfer
Model Choices
Vectors + Point Cloud
▪ Vectorize some features and
link to additional data
▪ Use point cloud for rest
Point Cloud
+ Contains all visible structure
+ Photorealistic & fully 3D
+ Potentially highly automatic
+ Easy to transfer
- Difficult to attach addit. data
- Large data size
 Example Data Set

Small Trimble MX-8 survey from Helsinki

Camera and scanner calibration checked

Positioning of drive passes matched to each other

Cut overlap done and points classified
Trimble MX-8
Two scanners
Four cameras 2448*2048

Forward left 45°, horizontal

Forward center, horizontal

Scanner
300 000 pulses/sec

Backward pavement, 20° from horizontal

Scanner
300 000 pulses/sec
Forward right 45°, horizontal
 Basic Principle in Coloring Points

For each laser point: find closest camera image which sees the point
and get RGB color from corresponding image pixel
Basic Colored Point Cloud Result
'Use depth' Enhances 3D Perception
Classify & Hide Moving Objects
Favor BP Camera for Ground Level
Assign Constant Color to Wires
Assign Intensity Coloring to Poles
Assign Color Mixture to Trees
Assign Color Mixture to Trees
Brighten Above Ground Features
Color Points Balance Brightness at Seamlines
Modify Seamlines
'Draw sky' Setting