Indoor real-time 3D reconstruction of crash-tested car cabins

The main contribution of the paper is to propose a novel system for real-time measurement of the inside of crashed and non-crashed car cabins. The proposed system consists of a multi-camera system and a probe equipped with a camera and line laser module, both designed to enable the fast and easy acquisition of the car cabin from its inside. The main tasks of the development were first of all the accurate estimation of the location of the handheld probe, as well as its orientation in real-time by guaranteeing its almost free motion and rotation inside the cabin. Furthermore, the calibration of the system, the estimation of target´s 3D coordinates - based on laser stripe projection and processing corresponding camera images - and finally the point-cloud processing can also be considered as main tasks to be performed. In the course of the development of these methods the main restriction was to keep the complexity as low as possible in order to guarantee the real-time functionality.