Title :
Accurate Motion Estimation and High-Precision 3D Reconstruction by Sensor Fusion
Author :
Bok, Yunsu ; Hwang, Youngbae ; Kweon, In So
Author_Institution :
Korea Adv. Inst. of Sci. & Technol., Daejeon
Abstract :
The CCD camera and the 2D laser range finder are widely used for motion estimation and 3D reconstruction. With their own strengths and weaknesses, low-level fusion of these two sensors complements each other. We combine these two sensors to perform motion estimation and 3D reconstruction simultaneously and precisely. We develop a motion estimation scheme appropriate for this sensor system. In the proposed method, the motion between two frames is estimated using three points among the scan data, and refined by nonlinear optimization. We validate the accuracy of the proposed method using real images. The results show that the proposed system is a practical solution for motion estimation as well as for 3D reconstruction.
Keywords :
CCD image sensors; image reconstruction; laser ranging; motion estimation; nonlinear programming; sensor fusion; stereo image processing; 2D laser range finder; 3D reconstruction; CCD camera; motion estimation; nonlinear optimization; sensor fusion; Cameras; Charge coupled devices; Charge-coupled image sensors; Image reconstruction; Laser fusion; Motion estimation; Robot vision systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364206