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The processing of intensity data from terrestrial laser scanners has attracted considerable attention in recent years. Accurate calibrated intensity could give added value for laser scanning campaigns, for example, in producing faithful 3D colour models of real targets and classifying easier and more reliable automatic tools. In cultural heritage area, the purely geometric information provided by the vast majority of currently available scanners is not enough for most applications, where indeed accurate colorimetric data is needed. This paper presents a remote calibration method for self-registered RGB colour data provided by a 3D tristimulus laser scanner prototype. Such distinguishing colour information opens new scenarios and problems for remote colorimetry. Using piecewise cubic Hermite polynomials, a quadratic model with nonpolynomial terms for reducing inaccuracies occurring in remote colour measurement is implemented. Colorimetric data recorded by the prototype on certified diffusive targets is processed for generating a remote Lambertian model used for assessing the accuracy of the proposed algorithm. Results concerning laser scanner digitizations of artworks are reported to confirm the effectiveness of the method

A Quadratic Model with Nonpolynomial Terms for Remote Colorimetric Calibration of 3D Laser Scanner Data Based on Piecewise Cubic Hermite Polynomials