A new upsampling method for mobile LiDAR data

We present a novel method to upsample mobile LiDAR data using panoramic images collected in urban environments. Our method differs from existing methods in the following aspects: First, we consider point visibility with respect to a given viewpoint, and use only visible points for interpolation; second, we present a multi-resolution depth map based visibility computation method; third, we present ray casting methods for upsampling mobile LiDAR data incorporating constraints from color information of spherical images. The experiments show the effectiveness of the proposed approach.