Title :
Onboard real-time system for 3D urban environment reconstruction
Author :
Abuhadrous, I. ; Nashashibi, F. ; Laurgeau, C. ; Goulette, F.
Author_Institution :
Center of Robotics, Ecole des Mines de Paris, France
Abstract :
The on-board real-time system for three-dimensional environment reconstruction consists of: an instrumented vehicle equipped by a laser mapping system using laser scanner for three dimensional range data acquisition, GPS, INS and odometers for positioning and attitude information. The data obtained by this system could be good resources for developing urban 3D database, which has numerous applications in the field of car navigation and 3D map matching, virtual reality, video and computer games, and planning. The system´s on-board software platform RTMAPS integrates the laser raw range data with the developed vehicle state estimator and is capable to reconstruct the 3D geometry of the environment by real time geo-referencing.
Keywords :
Global Positioning System; automobiles; computerised navigation; data acquisition; image reconstruction; real-time systems; state estimation; virtual reality; 3D map matching; 3D urban environment reconstruction; GPS; INS; attitude information; car navigation; data acquisition; geographical referencing; instrumented vehicle; laser mapping system; laser range data; laser scanner; odometers; onboard real time system; onboard software platform; vehicle state estimator; virtual reality; Application software; Data acquisition; Databases; Games; Global Positioning System; Instruments; Navigation; Real time systems; Vehicles; Virtual reality;
Conference_Titel :
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN :
0-7803-7848-2
DOI :
10.1109/IVS.2003.1212958
