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3D reconstruction of outdoor environments from omnidirectional range and color images

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dc.contributor.author Asai, Toshihiro en
dc.contributor.author Kanbara, Masayuki en
dc.contributor.author Yokoya, Naokazu en
dc.date.accessioned 2016-12-26T06:41:29Z en
dc.date.available 2016-12-26T06:41:29Z en
dc.date.issued 2005 en
dc.identifier.uri http://hdl.handle.net/10061/11267 en
dc.description Stereoscopic Displays and Virtual Reality Systems XII , Jan 17-20, 2005 , San Jose, CA, USA en
dc.description.abstract This paper describes a 3D modeling method for wide area outdoor environments which is based on integrating omnidirectional range and color images. In the proposed method, outdoor scenes can be efficiently digitized by an omnidirectional laser rangefinder which can obtain a 3D shape with high-accuracy and an omnidirectional multi-camera system (OMS) which can capture a high-resolution color image. Multiple range images are registered by minimizing the distances between corresponding points in the different range images. In order to register multiple range images stably, the points on the plane portions detected from the range data are used in registration process. The position and orientation acquired by the RTK-GPS and the gyroscope are used as initial value of simultaneous registration. The 3D model which is obtained by registration of range data is mapped by the texture selected from omnidirectional images in consideration of the resolution of the texture and occlusions of the model. In experiments, we have carried out 3D modeling of our campus with the proposed method. en
dc.language.iso en en
dc.publisher SPIE en
dc.rights Copyright c 2005 SPIE en
dc.subject 3D reconstruction en
dc.subject wide outodoor environment en
dc.subject omnidirectional sensor en
dc.title 3D reconstruction of outdoor environments from omnidirectional range and color images en
dc.type.nii Conference Paper en
dc.textversion Author en
dc.identifier.volume 5664 en
dc.relation.doi 10.1117/12.586589 en


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