Vehicle-borne Scanning for Detailed 3D Terrain Model Generation

Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world environments. We utilize a mobile platform to move our sensors past the scene to be digitized – fusing the data from cm-level accuracy laser range scanners, positioning and orientation instruments, and high-resolution video cameras – to provide the mobility and speed required to quickly and accurately model the target scene.

[1]  Martin A. Fischler,et al.  Computational Stereo , 1982, CSUR.

[2]  B. Barsky,et al.  An Introduction to Splines for Use in Computer Graphics and Geometric Modeling , 1987 .

[3]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.

[4]  O. Faugeras.  Three-Dimensional Computer Vision , 1993 .

[5]  Jonathan M. Roberts.  Attentive visual tracking and trajectory estimation for dynamic scene segmentation , 1994 .

[6]  Andrew Zisserman,et al.  Motion From Point Matches Using Affine Epipolar Geometry , 1994, ECCV.

[7]  John M. Evans,et al.  HelpMate: an autonomous mobile robot courier for hospitals , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[8]  Francois Blais,et al.  A MOBILE SYSTEM FOR INDOORS 3-D MAPPING AND POSITIONING1 , 1997 .

[9]  Cordelia Schmid,et al.  Comparing and evaluating interest points , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[10]  L. Van Gool,et al.  Automatic modelling and 3D reconstruction of urban buildings from aerial imagery , 1998, IGARSS '98. Sensing and Managing the Environment. 1998 IEEE International Geoscience and Remote Sensing. Symposium Proceedings. (Cat. No.98CH36174).

[11]  Kia Ng,et al.  Automated reconstruction of 3D models from real environments , 1999 .

[12]  Henri Maître,et al.  3-D Reconstruction of Urban Scenes from Aerial Stereo Imagery: A Focusing Strategy , 1999, Comput. Vis. Image Underst..

[13]  Mohinder S. Grewal,et al.  Global Positioning Systems, Inertial Navigation, and Integration , 2000 .

[14]  Seth J. Teller,et al.  Automatic recovery of relative camera rotations for urban scenes , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[15]  Matthew E. Antone,et al.  Automatic Recovery of Camera Positions in Urban Scenes , 2000 .

[16]  Yu Liang,et al.  Rejection of mismatched correspondences along the affine epipolar line , 2000, Image Vis. Comput..

[17]  Ioannis Stamos,et al.  Integration of range and image sensing for photo-realistic 3D modeling , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[18]  Ettore Stella,et al.  Passive navigation using egomotion estimates , 2000, Image Vis. Comput..

[19]  Andrew E. Johnson,et al.  Machine vision for autonomous small body navigation , 2000, 2000 IEEE Aerospace Conference. Proceedings (Cat. No.00TH8484).

[20]  Reinhard Koch,et al.  Automated reconstruction of 3D scenes from sequences of images , 2000 .

[21]  Christian Früh,et al.  3D model generation for cities using aerial photographs and ground level laser scans , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[22]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[23]  Ryosuke Shibasaki,et al.  Reconstructing urban 3D model using vehicle-borne laser range scanners , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[24]  T. Arikawa,et al.  Reconstruction of 3D urban model using range image and aerial image , 2001, IGARSS 2001. Scanning the Present and Resolving the Future. Proceedings. IEEE 2001 International Geoscience and Remote Sensing Symposium (Cat. No.01CH37217).

[25]  Maarten Vergauwen,et al.  Video-to-3D , 2002 .

[26]  Jean Ponce,et al.  Computer Vision: A Modern Approach , 2002 .

[27]  Andrew W. Fitzgibbon,et al.  Automated reconstruction from multiple photographs , 2002, Proceedings. International Conference on Image Processing.

[28]  Yangquan Chen,et al.  Visual servoing of an omni-directional mobile robot for alignment with parking lot lines , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[29]  Peter I. Corke,et al.  Visual servoing of a car-like vehicle - an application of omnidirectional vision , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[30]  D.A. Few,et al.  Intelligent autonomy for remote characterization of hazardous environments , 2003, Proceedings of the 2003 IEEE International Symposium on Intelligent Control.

[31]  C. Brenner.  FAST PRODUCTION OF VIRTUAL REALITY CITY MODELS , 2003 .

[32]  Xavier Armangué,et al.  A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot , 2003, Pattern Recognit..

[33]  Ehud Rivlin,et al.  Image-based robot navigation in unknown indoor environments , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[34]  Michaël Roy,et al.  Multiresolution analysis for irregular meshes , 2004, SPIE Optics East.

[35]  Markus Vincze,et al.  Fusion of Vision and Inertial Data for Motion and Structure Estimation , 2004 .

[36]  Clarence E. Johnson,et al.  Three-dimensional finite element analysis of soil interaction with a rigid wheel , 2005, Appl. Math. Comput..