Colouring LiDAR Point Cloud of Wall Paintings From Images Based on ICP

The sustainability of cultural heritage is one of the grand challenges of the contemporary world. Part of preservation is long-term monitoring, and LiDAR techniques are exceptionally useful. Despite all its advantages LiDAR is still not perfect, as individual points do not have a specific colour. This paper outlines a method for applying color to a LiDAR point cloud of a wall painting using images, leveraging the ICP algorithm. The results demonstrate that the proposed methodology is effective for applying colour to the LiDAR point cloud of wall paintings.