3D Line Reconstruction of a Road Environment Using an In-Vehicle Camera
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing, Part II
Range segmentation of large building exteriors: A hierarchical robust approach
Computer Vision and Image Understanding
Novel stereoscopic view generation by image-based rendering coordinated with depth information
SCIA'07 Proceedings of the 15th Scandinavian conference on Image analysis
3D modelling of static environments using multiple spherical stereo
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
3D Scene Reconstruction from Multiple Spherical Stereo Pairs
International Journal of Computer Vision
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This paper describes a 3D modeling method for wide area outdoor environments which is based on integrating omnidirectional range and color images. In the proposed method, outdoor scenes can be efficiently digitized by an omnidirectional laser rangefinder which can obtain a 3D shape with high-accuracy and by an omnidirectional multi-camera system (OMS) which can capture a high-resolution color image. Multiple range images are registered by minimizing the distances between corresponding points in the different range images. In order to register multiple range images stably, points on plane portions detected from the range data are used in registration process. The position and orientation acquired by RTK-GPS and gyroscope are used as initial values of simultaneous registration. The 3D model obtained by registration of range data is mapped by textures selected from omnidirectional images in consideration of the resolution of texture and occlusions of the model. In experiments, we have carried out 3D modeling of our campus with the proposed method.