Fusion of sensory data obtained by different equipment integrated in the mobile measurement platform

The paper presents an algorithm designed to make fusion of sensory data obtained by different equipment integrated in a mobile measurement platform. The measurement platform has been primarily designed to measure changes of road geometrical parameters and degradation of road surface over time. When measuring road surface degradation, data from the laser scanner, GPS receiver and INS are being fused. The fusion process results are a 3D model of a real object. It consists of point cloud and faces generated from them. In addition to explanation of some basic fusion-based terminology the paper also presents graphical algorithms usable for improvement of 3D models by adding photograph-based textures. Particular steps of the designed fusion algorithm have been practically implemented and tested.