Logboats: A Global Symbolic Content for New Reflections on the Protection of World Heritage in the Future with the Help of Cutting Edge Technology

Abstract

This paper presents an automatic methodology capable of registering non-overlapping laser scans based on a bundle block adjustment for the orienta-tion estimation of synthetic images generated from the 3D data and camera im-ages using a Structure-from-Motion (SfM) method. Adding camera images to the registration of the generated images can improve the block geometry. The SfM process provides accurate image orientations and sparse point clouds, in-itially in an arbitrary model space. This enables an implicit determination of the 3D-to-3D correspondences between the sparse points and the laser data then, the Helmert transformation is introduced and its parameters are computed. This results in registering the non-overlapping scans, since the relative orientations between the generated images are determined at the SfM step and transformed to the absolute coordinate system directly. The proposed approach was tested on real case studies and experimental results are shown to demonstrate the ef-fectiveness of the presented method.