3D reconstruction of outdoor scenes from synchronized laser range data and visual image data

作者：Zhang Ai Wu^*; Hu Shao Xing; Sun Wei Dong; Li Feng Ting

来源：Acta Electronica Sinica, 2005, 33(5): 810-815.

• 3D modeling
• Common coordinate systems
• Laser range data
• Outdoor scenes
• Registration
• Synchronized data
• Texture mapping
• Triangulation algorithms
• Visual image data

We propose an engineering approach to creating 3D models of outdoor scenes from laser range data and visual image data. According to the features of TH-3DLCS-2001 Scanner which can capture the 3D geometry and texture data synchronously, we deduce the formulas of registration between laser points and visual points, and give the RGB values of each laser points. We propose a fast registration algorithm of multiple range images based on the reverse projections, and all range images are aligned into a common coordinate system. Using the Hough Transform and Fuzzy theory, we classify the outdoor scene into six major groups including roof, wall, window, ground, tree, and others, and give a triangulation algorithm. This proposed method has been applied to the 3D reconstruction of some outdoor scenes, the results show that this method can be able to solve the basic problems of 3D reconstruction of outdoor scenes from laser range data and visual image data.

• 出版日期2005
• 单位清华大学; 北京大学