{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T05:29:38Z","timestamp":1774070978822,"version":"3.50.1"},"reference-count":56,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2021,11,28]],"date-time":"2021-11-28T00:00:00Z","timestamp":1638057600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The registration of optical imagery and 3D Light Detection and Ranging (LiDAR) point data continues to be a challenge for various applications in photogrammetry and remote sensing. In this paper, the framework employs a new registration primitive called virtual point (VP) that can be generated from the linear features within a LiDAR dataset including straight lines (SL) and curved lines (CL). By using an auxiliary parameter (\u03bb), it is easy to take advantage of the accurate and fast calculation of the one-step registration transformation model. The transformation model parameters and \u03bbs can be calculated simultaneously by applying the least square method recursively. In urban areas, there are many buildings with different shapes. Therefore, the boundaries of buildings provide a large number of SL and CL features and selecting properly linear features and transforming into VPs can reduce the errors caused by the semi-discrete random characteristics of the LiDAR points. According to the result shown in the paper, the registration precision can reach the 1~2 pixels level of the optical images.<\/jats:p>","DOI":"10.3390\/rs13234836","type":"journal-article","created":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T01:45:02Z","timestamp":1638323102000},"page":"4836","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Precisely One-Step Registration Methodology for Optical Imagery and LiDAR Data Using Virtual Point Primitives"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3360-9694","authenticated-orcid":false,"given":"Chunjing","family":"Yao","sequence":"first","affiliation":[{"name":"The School of Remote Sensing and Information Engineering, Wuhan University, Luoyu Road 129, Wuhan 430079, China"}]},{"given":"Hongchao","family":"Ma","sequence":"additional","affiliation":[{"name":"The School of Remote Sensing and Information Engineering, Wuhan University, Luoyu Road 129, Wuhan 430079, China"}]},{"given":"Wenjun","family":"Luo","sequence":"additional","affiliation":[{"name":"The School of Remote Sensing and Information Engineering, Wuhan University, Luoyu Road 129, Wuhan 430079, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9470-2067","authenticated-orcid":false,"given":"Haichi","family":"Ma","sequence":"additional","affiliation":[{"name":"The School of Remote Sensing and Information Engineering, Wuhan University, Luoyu Road 129, Wuhan 430079, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"7393","DOI":"10.1109\/TGRS.2014.2311991","article-title":"Seamless Fusion of LiDAR and Aerial Imagery for Building Extraction","volume":"52","author":"Zhou","year":"2014","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1007\/s12518-013-0105-9","article-title":"Co-registration of aerial photogrammetric and LiDAR point clouds in urban envi-ronments using automatic plane correspondence","volume":"5","author":"Armenakis","year":"2013","journal-title":"Appl. Geomat."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1016\/j.foreco.2008.04.025","article-title":"Allg\u00f6wer. Multi-source land cover classification for forest fire manage-ment based on imaging spectrometry and LiDAR data","volume":"256","author":"Koetz","year":"2008","journal-title":"For. Ecol. Manag."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.isprsjprs.2013.05.006","article-title":"Automatic extraction of building roofs using LIDAR data and multispec-tral imagery","volume":"83","author":"Awrangjeb","year":"2013","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2165","DOI":"10.1016\/j.ijleo.2015.11.147","article-title":"3D reconstruction of building facade with fused data of terrestrial LiDAR data and optical image","volume":"127","author":"Yang","year":"2016","journal-title":"Optik"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"531","DOI":"10.1016\/j.jvolgeores.2008.08.016","article-title":"Airborne laser swath mapping of the summit of Ere-bus volcano, Antarctica: Applications to geological mapping of a volcano","volume":"177","author":"Csatho","year":"2008","journal-title":"J. Volcanol. Geotherm. Res."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/j.isprsjprs.2006.07.003","article-title":"Rigorous approach to bore-sight self-calibration in airborne laser scanning","volume":"61","author":"Skaloud","year":"2006","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2864","DOI":"10.1109\/TGRS.2010.2043677","article-title":"Automatic Extraction of Control Points for the Registration of Optical Satellite and LiDAR Images","volume":"48","author":"Palenichka","year":"2010","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1016\/j.isprsjprs.2014.01.007","article-title":"A graph edit dictionary for correcting errors in roof topology graphs reconstructed from point clouds","volume":"93","author":"Xiong","year":"2014","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_10","first-page":"129","article-title":"Mapping invasive plant with UAV-derived 3D mesh model in mountain area\u2014A case study in Shenzhen Coast, China","volume":"77","author":"Wu","year":"2019","journal-title":"Int. J. Appl. Earth Obs. Geoinform."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/j.rse.2017.08.031","article-title":"Mapping plant species in mixed grassland communities using close range imaging spectroscopy","volume":"201","author":"Lopatin","year":"2017","journal-title":"Remote Sens. Environ."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1016\/j.isprsjprs.2017.03.011","article-title":"Species classification using Unmanned Aerial Vehicle (UAV)-acquired high spatial resolution imagery in a heterogeneous grassland","volume":"128","author":"Lu","year":"2017","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Johnson, K.M., Ouimet, W.B., Dow, S., and Haverfield, C. (2021). Ouimet, Samantha Dow and Cheyenne Haverfield. Estimating Historically Cleared and Forested Land in Massachusetts, USA, Using Airborne LiDAR and Archival Records. Remote Sens., 13.","DOI":"10.3390\/rs13214318"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Kwan, C., Gribben, D., Ayhan, B., Bernabe, S., Plaza, A., and Selva, M. (2020). Improving Land Cover Classification Using Extended Multi-Attribute Profiles (EMAP) Enhanced Color, Near Infrared, and LiDAR Data. Remote Sens., 12.","DOI":"10.3390\/rs12091392"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Bodensteiner, C., Huebner, W., Juengling, K., Mueller, J., and Arens, M. (2010, January 26\u201329). Local multi-modal image matching based on self-similarity. Proceedings of the 2010 IEEE International Conference on Image Processing, Hong Kong, China.","DOI":"10.1109\/ICIP.2010.5651219"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Bodensteiner, C., Hubner, W., Jungling, K., Solbrig, P., and Arens, M. (2011, January 6\u201313). Monocular camera trajectory optimization using Li-DAR data. Proceedings of the IEEE International Conference on Computer Vision Workshops (ICCV Workshops), Barlcelona, Spain.","DOI":"10.1109\/ICCVW.2011.6130496"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1111\/j.1477-9730.2006.00379.x","article-title":"Automatic registration of terrestrial laser scanner data via imagery","volume":"21","author":"Fraser","year":"2006","journal-title":"Photogramm. Rec."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1016\/j.isprsjprs.2013.11.015","article-title":"Automatic registration of optical imagery with 3D LiDAR data using statistical similarity","volume":"88","author":"Parmehr","year":"2014","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"164","DOI":"10.1016\/S0924-2716(99)00016-7","article-title":"Airborne laser scanning: Existing systems and firms and other resources","volume":"54","author":"Baltsavias","year":"1999","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"385","DOI":"10.14358\/PERS.73.4.385","article-title":"Improvement of Lidar Data Accuracy Using Lidar-Specific Ground Targets","volume":"73","author":"Csanyi","year":"2007","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_21","unstructured":"Jung, I.-K., and Lacroix, S. (2001, January 7\u201314). A robust interest points matching algorithm. Proceedings of the Eighth IEEE International Conference on Computer Vision, Vancouver, BC, Canada."},{"key":"ref_22","first-page":"310","article-title":"Fusion of LIDAR Data and Aeria1 Imagery for a Complete Surface Description","volume":"34","author":"Schenk","year":"2002","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1016\/S0924-2716(99)00014-3","article-title":"A comparison between photogrammetry and laser scanning","volume":"54","author":"Baltsavias","year":"1999","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_24","first-page":"137","article-title":"Aerial triangulation using point and linear features","volume":"32","author":"Habib","year":"1999","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_25","unstructured":"Habib, A., Lee, Y., and Morgan, M. (2001, January 19\u201321). Bundle Adjustment with Self-Calibration of Line Cameras Using Straight Lines. Proceedings of the Joint Workshop of ISPRS WG I\/2, I\/5 and IV\/7, Hanover, Germany."},{"key":"ref_26","unstructured":"Habib, A., and Asmamaw, A. (1999). Linear Features in Photogrammetry, The Ohio State University. Departmental Report # 451."},{"key":"ref_27","first-page":"170","article-title":"Integration of laser and photogrammetric data for calibration purposes","volume":"35","author":"Habib","year":"2004","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_28","first-page":"7","article-title":"Photogrammetric Georeferencing Using LIDAR Linear and Aeria1 Features","volume":"5","author":"Habib","year":"2005","journal-title":"Korean J. Geom."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"262","DOI":"10.1016\/j.isprsjprs.2014.12.025","article-title":"Automatic registration of UAV-borne sequent images and LiDAR data","volume":"101","author":"Yang","year":"2015","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1016\/j.infrared.2015.06.006","article-title":"Automatic registration of airborne LiDAR point cloud data and optical imagery depth map based on line and points features","volume":"71","author":"Lv","year":"2015","journal-title":"Infrared. Phys. Technol."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"68","DOI":"10.1016\/j.isprsjprs.2015.05.006","article-title":"Automatic registration of optical aerial imagery to a LiDAR point cloud for generation of city models","volume":"106","author":"Abayowa","year":"2015","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_32","first-page":"55","article-title":"A new approach for matching surfaces from laser scanners and optical scanners","volume":"32","author":"Habib","year":"1999","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Mastin, A., Kepner, J., and Fisher, J. (2009, January 20\u201325). Automatic Registration of LiDAR and optial images of urban scene. Proceedings of the IEEE Conference on Computer Vision and Patten Recognition, Miami, FL, USA.","DOI":"10.1109\/CVPRW.2009.5206539"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Parmehr, E.G., Fraser, C.S., Zhang, C., and Leach, J. (2012, January 3\u20135). Automatic Registration of Aerial Images with 3D LiDAR Data Using a Hy-brid Intensity-Based Method. Proceedings of the International Conference on Digital Image Computing Techniques & Applications, Fremantle, Australia.","DOI":"10.1109\/DICTA.2012.6411697"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1016\/S0924-2716(99)00008-8","article-title":"Processing of laser scanner data\u2014algorithms and applications","volume":"54","author":"Axelsson","year":"1999","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.isprsjprs.2021.09.010","article-title":"Robust registration of aerial images and LiDAR data using spatial constraints and Gabor structural features","volume":"181","author":"Zhu","year":"2021","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1016\/S0031-3203(03)00239-5","article-title":"Improving ICP with easy implementation for free-form surface matching","volume":"37","author":"Liu","year":"2004","journal-title":"Pattern Recognit."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","article-title":"Distinctive Image Features from Scale-Invariant Keypoints","volume":"60","author":"Lowe","year":"2004","journal-title":"Int. J. Comput. Vis."},{"key":"ref_39","unstructured":"Schutz, C., Jost, T., and Hugli, H. (1998, January 20\u201320). Multi-feature matching algorithm for free-form 3D surface registration. Proceedings of the Fourteenth International Conference on Pattern Recognition, Brisbane, QLD, Australia."},{"key":"ref_40","unstructured":"Habib, A., Lee, Y., and Morgan, M. (2001, January 19\u201321). LIDAR data for photogrammetric georeferencing. Proceedings of the Joint Workshop of ISPRS WG I\/2, I\/5 and IV\/7, Hanover, Germany."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1109\/TGRS.2008.2001685","article-title":"Efficient FFT-Accelerated Approach to Invariant Optical\u2013LIDAR Registration","volume":"46","author":"Wong","year":"2008","journal-title":"Geosci. Remote Sens."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Harrison, J.W., Iles, P.J.W., Ferrie, F.P., Hefford, S., Kusevic, K., Samson, C., and Mrstik, P. (2008, January 28\u201330). Tessellation of Ground-Based LIDAR Data for ICP Registration. Proceedings of the Canadian Conference on Computer and Robot Vision, Windsor, ON, Canada.","DOI":"10.1109\/CRV.2008.29"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"2229","DOI":"10.1109\/JSTARS.2012.2237543","article-title":"Automatic Co-Registration of Optical Satellite Images and Airborne Lidar Data Using Relative and Absolute Orientations","volume":"6","author":"Teo","year":"2013","journal-title":"IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1177\/0309133308089496","article-title":"Airborne LiDAR for DEM generation: Some critical issues","volume":"32","author":"Liu","year":"2008","journal-title":"Prog. Phys. Geogr."},{"key":"ref_45","unstructured":"Habib, A., and Schenk, T. (1994, January 5\u20139). Utilization of ground control points for image orientation without point identification in image space. Proceedings of the SPRS Commission III Symposium: Spatial Information from Digital Photogrammetry and Computer Vision, Munich, Germany."},{"key":"ref_46","unstructured":"Schenk, T. (1999). Determining Transformation Parameters between Surfaces without Identical Points, Department of Civil and Environmental Engineering and Geodetic Science, OSU. Technical Report; Photogrammetry No. 15."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.isprsjprs.2019.10.009","article-title":"NRLI-UAV: Non-rigid registration of sequential raw laser scans and images for low-cost UAV LiDAR point cloud quality improvement","volume":"158","author":"Li","year":"2019","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_48","first-page":"383","article-title":"Capture and evaluation of airborne laser scanner data","volume":"31","author":"Kilian","year":"1996","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"699","DOI":"10.14358\/PERS.71.6.699","article-title":"Photogrammetric and Lidar Data Registration Using Linear Features","volume":"71","author":"Habib","year":"2005","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_50","first-page":"37","article-title":"Coregistration of aerial photos, ALS data and digital maps using linear features","volume":"14","author":"Lee","year":"2006","journal-title":"KOGSIS J."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"847","DOI":"10.14358\/PERS.71.7.847","article-title":"DEM generation and building detection from lidar data","volume":"71","author":"Ma","year":"2005","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"805","DOI":"10.14358\/PERS.73.7.805","article-title":"Building boundary tracing and regularization from airborne lidar point clouds","volume":"73","author":"Sampath","year":"2007","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"551","DOI":"10.1109\/TIT.1983.1056714","article-title":"On the shape of a set of points in the plane","volume":"29","author":"Edelsbrunner","year":"1983","journal-title":"IEEE Trans. Inf. Theory"},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"De Berg, M., Van Kreveld, M., Overmars, M., and Schwarzkopf, O.C. (2000). Computational Geometry, Springer.","DOI":"10.1007\/978-3-662-04245-8"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Lach, S.R., and Kerekes, J.P. (2008, January 7\u201311). Robust extraction of exterior building boundaries from topographic LiDAR data. Proceedings of the Geoscience and Remote Sensing Symposium, Boston, MA, USA.","DOI":"10.1109\/IGARSS.2008.4778933"},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"7323","DOI":"10.3390\/s8117323","article-title":"A comprehensive automated 3D approach for building extraction, reconstruction, and regulariza-tion from airborne laser scanning point clouds","volume":"8","author":"Dorninger","year":"2008","journal-title":"Sensors"}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/23\/4836\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:37:06Z","timestamp":1760168226000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/23\/4836"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,11,28]]},"references-count":56,"journal-issue":{"issue":"23","published-online":{"date-parts":[[2021,12]]}},"alternative-id":["rs13234836"],"URL":"https:\/\/doi.org\/10.3390\/rs13234836","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,11,28]]}}}