3D modeling of indoor environments by a mobile platform with a laser scanner and panoramic camera

Biber, Peter and Fleck, Sven and Busch, Florian and Wand, Michael and Duckett, Tom and Strasser, Wolfgang (2005) 3D modeling of indoor environments by a mobile platform with a laser scanner and panoramic camera. In: 13th European Signal Processing Conference (EUSIPCO 2005), 4 - 8 September 2005, Antalya, Turkey.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realistic, visually convincing D model of indoor environments based on a mobile platform that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the simultaneous lo- calization and mapping problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multiresolution blending is used to hide seams in the gen- erated textures. The scene is further enriched by 3D-geometry cal- culated from a graph cut stereo technique. We present experimental results from a moderately large real environment. 1

Additional Information:Proceedings published by Curran Associates, Inc. ( Dec 2007 )
Keywords:Mobile robotics
Subjects:G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:12824
Deposited On:14 Feb 2014 14:30

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