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Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor

Lasmea-UMR UBP-CNRS 6602, Université Blaise Pascal, Aubière 63170, France
IRSTEA, Institut National de Recherche en Sciences et Technologies pour l’Environnement et l’Agriculture, Aubière 63170, France
Author to whom correspondence should be addressed.
Academic Editor: Assefa M. Melesse
Sensors 2015, 15(10), 25937-25967;
Received: 8 July 2015 / Revised: 10 September 2015 / Accepted: 22 September 2015 / Published: 14 October 2015
(This article belongs to the Section Remote Sensors, Control, and Telemetry)
PDF [7637 KB, uploaded 14 October 2015]


In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on the one hand, and the high spatial resolution of a vision sensor, on the other. Firstly, geometric modeling of each sensor and of the entire system is presented. Secondly, we address the global calibration problem, which consists of finding the exact transformation between the sensors’ coordinate systems. Two implementation methods are proposed and compared, based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Unlike existing methods, no special configuration of the 3D points is required for calibration. This makes the methods flexible and easy to use by a non-expert operator. Finally, we present a very simple, yet robust 3D reconstruction method based on the sensors’ geometry. This method enables one to reconstruct observed features in 3D using one acquisition (static sensor), which is not always met in the state of the art for outdoor scene reconstruction. The proposed methods have been validated with synthetic and real data. View Full-Text
Keywords: 3D reconstruction; multi-sensor calibration; radar; vision 3D reconstruction; multi-sensor calibration; radar; vision

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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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Natour, G.E.; Ait-Aider, O.; Rouveure, R.; Berry, F.; Faure, P. Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor. Sensors 2015, 15, 25937-25967.

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