3D Scene Reconstruction Using Omnidirectional Vision and LiDAR: A Hybrid Approach
- We propose a surface analysis technique that is used to build a topological space on top of the point cloud, providing for each point its ideal neighborhood and taking into account the underlying surface.
- We keep track of a global 3D map that is continuously updated by means of a surface reconstruction technique that allows us to resample the point cloud. This way, the global 3D map is continuously improved, i.e., the noise is reduced, and the alignment of the following point clouds can be conducted more accurately.
- The topological space is used to compute low-level features, which will be incorporated in an adapted version of the ICP algorithm to make this latter more robust. The alignment of consecutive local point clouds, as well as the alignment of a local point cloud with the global 3D map will be conducted using this improved ICP algorithm.
- We incorporate the residual of the ICP process in the loop closure process. Based on this residual, we can predict the share of each pose estimation in the final pose error when a loop has been detected.
2. Related Work
3.1. Acquisition Platform
3.3. Reference Coordinate System
3.4. Problem Statement
4.1. 2D Projection
4.2. Surface Analysis
4.3. Local Registration
4.4. Global Registration
4.5. Map Fusion
4.6. Loop Closure
5.1. Our Dataset
5.2. Kitti Vision Benchmark
Conflicts of Interest
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|Ladybug system||- 6 camera’s in pentagonal prism, one pointing upwards|
|- resolution of 1600 × 1200 per image|
|- 1 frame (6 images) per second|
|- mounted perpendicular w.r.t. the ground plane|
|Velodyne HDL-32e||- 360 horizontal FOV, 41.3 vertical FOV|
|- 32 lasers spinning at 10 sweeps per second|
|- ±700,000 points per sweep|
|- mounted with an angle of 66 w.r.t. the ground plane|
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Vlaminck, M.; Luong, H.; Goeman, W.; Philips, W. 3D Scene Reconstruction Using Omnidirectional Vision and LiDAR: A Hybrid Approach. Sensors 2016, 16, 1923. https://doi.org/10.3390/s16111923
Vlaminck M, Luong H, Goeman W, Philips W. 3D Scene Reconstruction Using Omnidirectional Vision and LiDAR: A Hybrid Approach. Sensors. 2016; 16(11):1923. https://doi.org/10.3390/s16111923Chicago/Turabian Style
Vlaminck, Michiel, Hiep Luong, Werner Goeman, and Wilfried Philips. 2016. "3D Scene Reconstruction Using Omnidirectional Vision and LiDAR: A Hybrid Approach" Sensors 16, no. 11: 1923. https://doi.org/10.3390/s16111923