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Recently, it has been reported that a camera-captured-like color image can be generated from the reflection data of 3D light detection and ranging (LiDAR). In this paper, we present that the color image can also be generated from the range data of LiDAR. We propose deep learning networks that generate color images by fusing reflection and range data from LiDAR point clouds. In the proposed networks, the two datasets are fused in three ways-early, mid, and last fusion techniques. The baseline network is the encoder-decoder structured fully convolution network (ED-FCN). The image generation performances were evaluated according to source types, including reflection data-only, range data-only, and fusion of the two datasets. The well-known KITTI evaluation data were used for training and verification. The simulation results showed that the proposed last fusion method yields improvements of 0.53 dB, 0.49 dB, and 0.02 in gray-scale peak signal-to-noise ratio (PSNR), color-scale PSNR, and structural similarity index measure (SSIM), respectively, over the conventional reflection-based ED-FCN. Besides, the last fusion method can be applied to real-time applications with an average processing time of 13.56 ms per frame. The methodology presented in this paper would be a powerful tool for generating data from two or more heterogeneous sources.

Color Image Generation from Range and Reflection Data of LiDAR