Building a mobile platform for spatiotemporal integration of 3D outdoor world models

This paper introduces our mobile platform, which equips multiple sensors for 3D outdoor world modeling. The data from GPS and IMU on the platform are fused to provide vehicle pose on the ground. The laterally installed LRFs(Laser Range Finder) on each side of the vehicle give environment perception information. The data from the LRFs are fused with cameras in order to make colored LRF points. With these multiple sensors, we have successfully built spatiotemporal integrated 3D world models of outdoor environments.