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Sensors 2014, 14(11), 20882-20909;

Sensor Fusion of Cameras and a Laser for City-Scale 3D Reconstruction

Robotics and Computer Vision Lab., KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea
Author to whom correspondence should be addressed.
Received: 13 August 2014 / Revised: 18 September 2014 / Accepted: 18 September 2014 / Published: 4 November 2014
(This article belongs to the Section Sensor Networks)
Full-Text   |   PDF [8873 KB, uploaded 4 November 2014]


This paper presents a sensor fusion system of cameras and a 2D laser sensorfor large-scale 3D reconstruction. The proposed system is designed to capture data on afast-moving ground vehicle. The system consists of six cameras and one 2D laser sensor,and they are synchronized by a hardware trigger. Reconstruction of 3D structures is doneby estimating frame-by-frame motion and accumulating vertical laser scans, as in previousworks. However, our approach does not assume near 2D motion, but estimates free motion(including absolute scale) in 3D space using both laser data and image features. In orderto avoid the degeneration associated with typical three-point algorithms, we present a newalgorithm that selects 3D points from two frames captured by multiple cameras. The problemof error accumulation is solved by loop closing, not by GPS. The experimental resultsshow that the estimated path is successfully overlaid on the satellite images, such that thereconstruction result is very accurate. View Full-Text
Keywords: sensor fusion; structure from motion; 3D reconstruction sensor fusion; structure from motion; 3D reconstruction
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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MDPI and ACS Style

Bok, Y.; Choi, D.-G.; Kweon, I.S. Sensor Fusion of Cameras and a Laser for City-Scale 3D Reconstruction. Sensors 2014, 14, 20882-20909.

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