{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T13:09:41Z","timestamp":1790687381465,"version":"4.1.0"},"reference-count":109,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T00:00:00Z","timestamp":1598313600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["272195, 307362"],"award-info":[{"award-number":["272195, 307362"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002341","name":"Academy of Finland","doi-asserted-by":"publisher","award":["293389, 314312"],"award-info":[{"award-number":["293389, 314312"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004895","name":"European Social Fund","doi-asserted-by":"publisher","award":["S21272"],"award-info":[{"award-number":["S21272"]}],"id":[{"id":"10.13039\/501100004895","id-type":"DOI","asserted-by":"publisher"}]},{"name":"City of Helsinki Innovation Fund","award":["Helsinki Smart Digital Twin 2025"],"award-info":[{"award-number":["Helsinki Smart Digital Twin 2025"]}]},{"DOI":"10.13039\/501100005637","name":"Finnish Foundation for Technology Promotion","doi-asserted-by":"publisher","award":["personal grant"],"award-info":[{"award-number":["personal grant"]}],"id":[{"id":"10.13039\/501100005637","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Terrestrial laser scanning (TLS) enables the efficient production of high-density colored 3D point clouds of real-world environments. An increasing number of applications from visual and automated interpretation to photorealistic 3D visualizations and experiences rely on accurate and reliable color information. However, insufficient attention has been put into evaluating the colorization quality of the 3D point clouds produced applying TLS. We have developed a method for the evaluation of the point cloud colorization quality of TLS systems with integrated imaging sensors. Our method assesses the capability of several tested systems to reproduce colors and details of a scene by measuring objective image quality metrics from 2D images that were rendered from 3D scanned test charts. The results suggest that the detected problems related to color reproduction (i.e., measured differences in color, white balance, and exposure) could be mitigated in data processing while the issues related to detail reproduction (i.e., measured sharpness and noise) are less in the control of a scanner user. Despite being commendable 3D measuring instruments, improving the colorization tools and workflows, and automated image processing pipelines would potentially increase not only the quality and production efficiency but also the applicability of colored 3D point clouds.<\/jats:p>","DOI":"10.3390\/rs12172748","type":"journal-article","created":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T09:24:56Z","timestamp":1598347496000},"page":"2748","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Evaluating the Quality of TLS Point Cloud Colorization"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9887-1573","authenticated-orcid":false,"given":"Arttu","family":"Julin","sequence":"first","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4380-3885","authenticated-orcid":false,"given":"Matti","family":"Kurkela","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Toni","family":"Rantanen","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0281-9717","authenticated-orcid":false,"given":"Juho-Pekka","family":"Virtanen","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"},{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6609-372X","authenticated-orcid":false,"given":"Mikko","family":"Maksimainen","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3841-6533","authenticated-orcid":false,"given":"Antero","family":"Kukko","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"},{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4796-3942","authenticated-orcid":false,"given":"Harri","family":"Kaartinen","sequence":"additional","affiliation":[{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9907-0516","authenticated-orcid":false,"given":"Matti T.","family":"Vaaja","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5360-4017","authenticated-orcid":false,"given":"Juha","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2487-3159","authenticated-orcid":false,"given":"Hannu","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, FI-00076 Aalto, Finland"},{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1145\/636886.636891","article-title":"Image-based reconstruction of spatial appearance and geometric detail","volume":"22","author":"Lensch","year":"2003","journal-title":"ACM Trans. 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