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. 2018 Jul 3;18(7):2139. doi: 10.3390/s18072139

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Point cloud fusion of three LiDAR devices, colored by the left camera placed of the top of a car. The LiDAR points from Velodyne HDL-64 and two VLP-16 are colored in red, green and blue points, respectively. The first column of the top rows shows the fusion with no calibration, while the second column shows with calibration. The first image in the third row shows the camera image, and the others are taken from the colored point cloud fusion from the bird’s eye view, the viewpoint of the camera and the Velodyne HDL-64 LiDAR. The occlusion caused by different LiDAR views was not considered during the point cloud coloring process. White points are located outside of the camera view.

Point cloud fusion of three LiDAR devices, colored by the left camera placed of the top of a car. The LiDAR points from Velodyne HDL-64 and two VLP-16 are colored in red, green and blue points, respectively. The first column of the top rows shows the fusion with no calibration, while the second column shows with calibration. The first image in the third row shows the camera image, and the others are taken from the colored point cloud fusion from the bird’s eye view, the viewpoint of the camera and the Velodyne HDL-64 LiDAR. The occlusion caused by different LiDAR views was not considered during the point cloud coloring process. White points are located outside of the camera view.