The accuracy of scene reconstruction from IR images based on known camera positions

A novel approach for the evaluation of a 3D scene reconstruction based on LiDAR data is presented. A system for structure computation from aerial infrared imagery is described which uses known pose and position information of the sensor. Detected 2D image features are tracked and triangulated afterwards. Each estimated 3D point is assessed by means of its covariance matrix which is associated with the respective uncertainty. Finally a non-linear optimization (Gauss-Newton iteration) of 3D points yields the resulting point cloud. The obtained results are evaluated with the aid of LiDAR data. For that purpose we quantify the error of a reconstructed scene by means of a 3D point cloud acquired by a laser scanner. The evaluation procedure takes into account that the main uncertainty of a Structure from Motion (SfM) system is in direction of the line of sight. Results of both the SfM system and the evaluation are presented.