Rapid radiometric enhancement of colored 3D point clouds using color balacing

A rapid radiometric enhancement framework to improve the quality of the point clouds obtained by 3D scanning devices is explained. Given a collection of colored point clouds of the same static scene, for each point cloud a linear transformation function is computed using the variances and the means of the overlapping parts, such that having applied these linear transformation functions the point clouds become radiometrically similar with the neighboring point clouds. Proposed methods are applicable to structured as well as unstructured point clouds.