A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Automatic modeling of a 3D city map from real-world video
MULTIMEDIA '99 Proceedings of the seventh ACM international conference on Multimedia (Part 1)
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Markov Localization using Correlation
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Photorealistic Scene Reconstruction by Voxel Coloring
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Direct Method for Visual Scene Reconstruction
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing
International Journal of Robotics Research
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping
Robotics and Autonomous Systems
Analysis of Building Textures for Reconstructing Partially Occluded Facades
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Stereo-Vision-Support for Intelligent Vehicles - The Need for Quantified Evidence
AI '08 Proceedings of the 21st Australasian Joint Conference on Artificial Intelligence: Advances in Artificial Intelligence
Acquiring a Physical World and Serving Its Mirror World Simultaneously
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
Improving simultaneous mapping and localization in 3D using global constraints
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
On measuring the accuracy of SLAM algorithms
Autonomous Robots
Privacy-enabling abstraction and obfuscation techniques for 3D city models
Proceedings of the 2nd SIGSPATIAL ACM GIS 2009 International Workshop on Security and Privacy in GIS and LBS
Range segmentation of large building exteriors: A hierarchical robust approach
Computer Vision and Image Understanding
Novel solutions for Global Urban Localization
Robotics and Autonomous Systems
Registration of fixed-and-mobile- based terrestrial laser data sets with DSM
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
IEEE Transactions on Image Processing
Large scale graph-based SLAM using aerial images as prior information
Autonomous Robots
Real-time photorealistic virtualized reality interface for remote mobile robot control
International Journal of Robotics Research
Communications of the ACM
Mapping for the Support of First Responders in Critical Domains
Journal of Intelligent and Robotic Systems
Reconstruction of structure and texture of city building facades
Programming and Computing Software
Efficient city-sized 3D reconstruction from ultra-high resolution aerial and ground video imagery
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
3D scans of as-built street scenes for virtual environments
Proceedings of the 2011 Symposium on Simulation for Architecture and Urban Design
Building of 3d environment models for mobile robotics using self-organization
PPSN'06 Proceedings of the 9th international conference on Parallel Problem Solving from Nature
Creating Large-Scale City Models from 3D-Point Clouds: A Robust Approach with Hybrid Representation
International Journal of Computer Vision
Automatic registration of large-scale multi-sensor datasets
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
Large-scale Structure-from-Motion Reconstruction with small memory consumption
Proceedings of International Conference on Advances in Mobile Computing & Multimedia
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In this paper, we describe an automated method for fast, ground-based acquisition of large-scale 3D city models. Our experimental set up consists of a truck equipped with one camera and two fast, inexpensive 2D laser scanners, being driven on city streets under normal traffic conditions. One scanner is mounted vertically to capture building facades, and the other one is mounted horizontally. Successive horizontal scans are matched with each other in order to determine an estimate of the vehicle's motion, and relative motion estimates are concatenated to form an initial path. Assuming that features such as buildings are visible from both ground-based and airborne view, this initial path is globally corrected by Monte-Carlo Localization techniques. Specifically, the final global pose is obtained by utilizing an aerial photograph or a Digital Surface Model as a global map, to which the ground-based horizontal laser scans are matched. A fairly accurate, textured 3D cof the downtown Berkeley area has been acquired in a matter of minutes, limited only by traffic conditions during the data acquisition phase. Subsequent automated processing time to accurately localize the acquisition vehicle is 235 minutes for a 37 minutes or 10.2 km drive, i.e. 23 minutes per kilometer.