The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
angels co,(p,K is estimated with similarity between image and 
scan. 
3. EXPERIMENT 
The laser scanning were obtained from two stations in the our 
labouratuary (Figure 2, Figure 3). Although our aim is 
registration of unoverlap laser scanner data, the laser scanning 
was performed overlap area on the each laser scans. Control 
points were selected in the overlap area and, the points were 
used for comparision of accuracy of the registration. 
Aftwerwards, image taken form cover each adjacent scan 
(Figure 4), and registration of the laser scanning was done by 
one imege as if there are not overlap area between the adjacent 
scan (Figure 5). The process steps as in below: 
1. 10 points were selected on the image and scan-1 
(1,2,3,13,14,15,20,21,22,28). The points can be selected 
characteristic point of the object or used artifical point. 
2. Projection centers (0 S i) coordinates (X 0 ,Y 0 ,Z 0 ) have 
been calculated related with scan 1 (as in section 2.1). 
3. rotation angels have been calculated by collinearity 
equations between image and scan 1 (section 2.2). 
4. scan 1 is rotated by angels in 3. Now, coordinate axes of 
scan 1 and image is parallel. 
5. 10 points were selected in the image and scan 2 
(6,8,11,17,18,19,24,25,26,27). 
6. 2,3,4,5 is applied ordinary, and coordinate axes of scan 
2 and image is parallel. 
7. Translation vector is calculated by difference 
Osi(Xo>Y 0 ,Z 0 ) and Os2(X 0 ,Y o ,Z 0 ). 
8. Registration has completed after sum of translation 
vector with scan 1 or scan 2. 
Redundancies in control points, which is common for each scan, 
has been given in Table 1. 
z 
Figure 2. Laser scanning from station 1 (scan 1) 
Figure 3. Laser scanning from station 2 (scan 2) 
Figure 4. Image taken form cover scan 1 and scan 2. 
z 
Figure 5. Combination of scan 1 and scan 2 
Points 
Translation vectors 
tx (m) 
ty(m) 
tz (m) 
0(proj.center 
) 
-4.674 
1.063 
2.145 
9 
-5.068 
1.251 
2.249 
10 
-5.209 
1.385 
2.347 
16 
-5.023 
1.370 
2.311 
4 
-5.044 
1.405 
2.165 
Table 1. Translation vector for control points and projection 
center.