This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Vehicle-borne Scanning for Detailed 3D Terrain Model Generation
Technical Paper
2005-01-3557
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world environments. We utilize a mobile platform to move our sensors past the scene to be digitized - fusing the data from cm-level accuracy laser range scanners, positioning and orientation instruments, and high-resolution video cameras - to provide the mobility and speed required to quickly and accurately model the target scene.
Authors
Citation
Grinstead, B., Koschan, A., Page, D., Gribok, A. et al., "Vehicle-borne Scanning for Detailed 3D Terrain Model Generation," SAE Technical Paper 2005-01-3557, 2005, https://doi.org/10.4271/2005-01-3557.Also In
References
- Realtime Technologies “Realtime Technologies Home,” http://www.simcreator.com/ 2005
- Bruemmer D.J. Anderson M.O. Marble J.L. Dudenhoeffer D.D. Few D.A. McKay M.D. “Intelligent autonomy for remote characterization of hazardous environments,” Proceedings of the International Symposium on Intelligent Control 750 754 2003
- Evans J. “HelpMate TM: An autonomous mobile robot courier for hospitals,” Proceedings of the International Conference on Intelligent Robots and Systems 1695 1700 1994
- Berkemeier M. Davidson M. Bahl V. Chen Y. Ma L. “Visual servoing of an omni-directional mobile robot for alignment with parking lot lines,” Proceedings of the International Conference on Robotics and Automation 4202 4210 2002
- Chiroux R.C. Foster J. W.A. Johnson C.E. Shoop S.A. Raper R.L. “Three dimensional finite element analysis of soil interaction with a rigid wheel,” Applied Mathematics and Computation 162 02 707 722 2005
- Frere D. Vandekerckhove J. Moons T. VanGool L. “Automatic modeling and 3D reconstruction of urban buildings from aerial imagery,” Proceedings of the IEEE International Geoscience and Remote Sensing Symposium 2593 2596 1998
- Baillard C. Maître H. “3-D reconstruction of urban scenes from aerial stereo imagery: A focusing strategy,” Computer Vision and Image Understanding 76 03 244 258 1999
- Pollefeys M. Koch R. Vergauwen M. Gool L.V. “Automated reconstruction of 3D scenes from sequences of images,” ISPRS Journal of Photogrammetry & Remote Sensing 55 251 267 2000
- Zisserman A. Schaffalitzky F. Werner T. Fitzgibbon A. “Automated reconstruction from multiple photographs,” Proceedings of the International Conference on Image Processing 2002
- Antone M.E. Teller S. “Automatic recovery of relative camera positions in urban scenes,” Computer Vision and Pattern Recognition 2 282 289 2000
- El-Hakim S.F. Boulanger P. Blais F. Beraldin J.A. Roth G. “A mobile system for indoors 3-D mapping and positioning,” Proceedings of the Optical 3-D Measurement Techniques 275 282 1997
- Sequeira V. Ng K. Wolfart E. Goncalves J.G.M. Hogg D. “Automated reconstruction of 3D models from real environments,” ISPRS Journal of Photogrammetry and Remote Sensing 54 1 22 1999
- Stamos I. Allen P.K. “Integration of range and image sensing for photo-realistic 3D modeling,” International Conference on Robotics and Automation 2 1435 1440 2000
- Zhao H. Shibasaki R. “Reconstructing urban 3D model using vehicle-borne laser range scanners,” Proceedings of the International Conference on 3D Digital Imaging and Modeling 349 356 2001
- Früh C. Zakhor A. “3D model generation for cities using aerial photographs and ground level laser scans,” Computer Vision and Pattern Recognition 2 31 38 2001
- Brenner C. Haala N. “Fast production of virtual reality city models,” Proceedings of the IAPRS: GIS - Between Visions and Applications 32 77 84 1998
- Fujii K. Arikawa T. “Reconstruction of 3D urban model using range image and aerial image,” Proceedings of the International Geoscience and Remote Sensing Symposium 4 1928 1932 2001
- Grewal M.S. Weill L.R. Andrews A.P. Global Positioning Systems, Inertial Navigation, and Integration New York John Wiley & Sons 2001
- Bartels R.H. Beatty J.C. Barsky B.A. “Hermite and Cubic Spline Interpolation,” An Introduction to Splines for Use in Computer Graphics and Geometric Modelling San Francisco, CA Morgan Kaufmann 9 17 1998
- Armangue X. Araujo H. Salvi J. “A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot,” Pattern Recognition 36 2927 2944 2003
- Johnson A.E. Yang C. Matthies L.H. “Machine vision for autonomous small body navigation,” Proceedings of the IEEE Aerospace Conference 7 661 671 2000
- Pollefeys M. Gool L.V. Vergauwen M. Verbiest F. Cornelis K. Tops J. “Video-to-3D,” Proceedings of the Symposium on Photogrammetric Computer Vision A 252 257 2002
- Shapiro L. Zisserman A. Brady M. “Motion from point matches using affine epipolar geometry,” Proceedings of the European Conference on Computer Vision 73 84 1994
- Barnard S.T. Fischler M.A. “Computational Stereo,” ACM Computing Surveys 14 04 553 572 1982
- Faugeras O. Three-Dimensional Computer Vision Cambridge Massachusetts The MIT Press 1993
- Forsyth D.A. Ponce J. Computer Vision: A Modern Approach Upper Saddle River, NJ Prentice Hall 2003
- Chua C.-S. Ho Y.K. Liang Y. “Rejection of mismatched correspondences along the affine epipolar line,” Image and Vision Computing 18 445 462 2000
- Hartley R. Zisserman A. Multiple View Geometry in Computer Vision Cambridge University Press 2000
- Branca A. Stella E. Distante A. “Passive navigation using egomotion estimates,” Image and Vision Computing 18 833 841 2000
- Rivlin E. Shimshoni I. Smolyar E. “Image-based robot navigation in unknown indoor environments,” Proceedings of the International Conference on Intelligent Robots and Systems 3 2736 2742 2003
- Usher K. Ridley P. Corke P. “Visual servoing of a car-like vehicle - An application of omnidirectional vision,” Proceedings of the International Conference on Robotics and Automation 4288 4293 2003
- Chroust S.G. Vincze M. “Fusion of vision and inertial data for motion and structure estimation,” Journal of Robotic Systems 21 02 73 83 2004
- Harris C. Stephens M. “A combined corner and edge detector,” Proceedings of the Alvey Vision Conference 147 151 1988
- Schmid C. Mohr R. Bauckhage C. “Comparing and evaluating interest points,” Proceedings of the International Conference on Computer Vision 230 235 1998
- Roberts J.M. “Attentive visual tracking and trajectory estimation for dynamic scene segmentation,” PhD thesis University of Southampton UK 1994
- Roy M. Foufou S. Koschan A. Truchutet F. Abidi M. “Multiresolution analysis for irregular meshes,” Proceedings of the SPIE: Photonics East 5266 249 259 2003