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Sensors 2017, 17(2), 242;

Structure-From-Motion in 3D Space Using 2D Lidars

Robotics and Computer Vision Lab, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Korea
Broadcasting Media Research Lab, Electronics and Telecommunications Research Institute, 218 Gajeong-ro, Yuseong-gu, Daejeon 34129, Korea
Center for Robotics Research, Korea Institute of Science and Technology, Seoul 02792, Korea
Author to whom correspondence should be addressed.
Academic Editor: Angelo Maria Sabatini
Received: 27 September 2016 / Revised: 11 January 2017 / Accepted: 17 January 2017 / Published: 3 February 2017
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [2405 KB, uploaded 3 February 2017]   |  


This paper presents a novel structure-from-motion methodology using 2D lidars (Light Detection And Ranging). In 3D space, 2D lidars do not provide sufficient information for pose estimation. For this reason, additional sensors have been used along with the lidar measurement. In this paper, we use a sensor system that consists of only 2D lidars, without any additional sensors. We propose a new method of estimating both the 6D pose of the system and the surrounding 3D structures. We compute the pose of the system using line segments of scan data and their corresponding planes. After discarding the outliers, both the pose and the 3D structures are refined via nonlinear optimization. Experiments with both synthetic and real data show the accuracy and robustness of the proposed method. View Full-Text
Keywords: 2D lidar; structure-from-motion; pose estimation 2D lidar; structure-from-motion; pose estimation

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Choi, D.-G.; Bok, Y.; Kim, J.-S.; Shim, I.; Kweon, I.S. Structure-From-Motion in 3D Space Using 2D Lidars. Sensors 2017, 17, 242.

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