Title :
Vision-based 3D laser point cloud rendering and depthmap construction
Author :
Chen Dong ; Yan, Zhuang ; Zhuang Yan ; Wang Wei
Author_Institution :
Res. Center of Inf. & Control, Dalian Univ. of Technol., Dalian, China
Abstract :
This paper focuses on data fusion issues between 3D laser scanner and monocular vision in unstructured indoor and outdoor scenes. The 3D laser scanner and monocular vision are calibrated through an interactive way and the resulting parameters are verified through point cloud rendering. Based on the obtained calibration parameters, a sparse depthmap is created by projecting the 3D laser data onto image plane where a dynamic grid is used to stitch the depth information. Validity and practicability of the method are verified using the self-designed experimental platform.
Keywords :
calibration; computer vision; optical scanners; rendering (computer graphics); sensor fusion; 3D laser data; 3D laser scanner; calibration parameters; data fusion; depth information; depthmap construction; dynamic grid; image plane; monocular vision; outdoor scenes; sparse depthmap; unstructured indoor scene; vision-based 3D laser point cloud rendering; Calibration; Clouds; Laser fusion; Rendering (computer graphics); Robots; Three dimensional displays; 3Dlaser Scanner; Depthmap Construction; Interactive Calibration; Multi-sensor Data Fusion; Point Cloud Rendering;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
