Colourising point clouds using independent cameras

Pavel Vechersky, Mark Cox, Paulo Borges, Thomas Lowe

Research output: Contribution to journalArticlepeer-review

15 Scopus citations


We investigate the problem of colourising a point cloud using an arbitrary mobile mapping device and an independent camera. The loose coupling of sensors creates a number of challenges related to timing, point visibility, and colour determination. We address each of these problems and demonstrate our resulting algorithm on data captured using sensor payloads mounted to hand-held, aerial, and ground systems, illustrating the 'plug-and-play' portability of the method.

Original languageEnglish
Article number8408750
Pages (from-to)3575-3582
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
StatePublished - Oct 2018


  • Mapping
  • computer vision for robotic applications
  • sensor fusion


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