Abstract: 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.