Panoramic Image Measurement Method Basedon Projection Regression

Aimed to match panoramic images with laser point cloud data,we introduced an assumptionof“virtual spherical projection”based on fisheye camera optical structure research and the mathemati-cal basis of fisheye image.A projection regression method was proposed to normalize light sources forthe fisheye camera lens and the laser scanner,and a mathematical processing rigorously supportes ourhypothesis.We demonstrate the correctness of a angle approximation approach for spherical projec-tion,and also measured panoramic images under different resolutions of scanner pith angle using nea-rest point search algorithm.Our experimental results show small measurement errors and there forethe proposed method has great practicality.