Geo-Registration of Terrestrial LiDAR Point Clouds with Satellite Images without GNSS

arXiv — cs.CV•Thursday, November 13, 2025 at 5:00:00 AM

The recent development in geo-registration of LiDAR point clouds with satellite images marks a significant advancement in urban mapping technologies. Traditional methods often rely on GNSS and IMU data, which can fail in dense urban environments, leading to localization errors. The proposed method utilizes a pre-trained Point Transformer to segment road points and extract road skeletons, achieving global alignment through rigid transformation and local refinement with RBF interpolation. This innovative approach not only corrects elevation discrepancies using terrain data from the Shuttle Radar Topography Mission but also validates its effectiveness on the KITTI benchmark and a dataset from Perth, Western Australia. The method's mean planimetric alignment error of 0.69 meters indicates a 50% improvement, showcasing its potential impact on urban planning and navigation systems.

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