Self-position estimation for virtual 3D city model construction with the use of horizontal line laser scanning
This paper proposes a novel notion of spatio-temporal range image and an efficient way to construct 3D geometric model of urban scene with the use of this range image. We mount vertical and horizontal line-scanning laser range finders on our vehicle. The vertical one is for acquiring the scene geometry itself, and the horizontal one is for self-positioning of the vehicle. Laminating horizontal-scanning data along time axis, we can get a spatio-temporal range image which simultaneously represents spatial feature and temporal continuity of the scene geometry. Analyzing this range image, we can estimate the velocity or the self-position of our vehicle without using any external devices as GPS or INS. With this information, we can align the position of the vertical scanning lines and construct a proper 3D model of urban scene.
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Authors:
- ONO, S
- Ikeuchi, Katsushi
- Publication Date: 2008
Language
- English
Media Info
- Pagination: 67-75
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Serial:
- INTERNATIONAL JOURNAL OF ITS RESEARCH
- Volume: 2
- Issue Number: 1
Subject/Index Terms
- TRT Terms: Image processing; Lasers; Location; Mathematical models; Scale models; Sensors; Urban areas
- ITRD Terms: 8633: Image processing; 6772: Laser; 9061: Location; 6205: Model (not math); 6120: Sensor; 9080: Three dimensional; 313: Urban area
- Subject Areas: Bridges and other structures; Operations and Traffic Management; I70: Traffic and Transport;
Filing Info
- Accession Number: 01109564
- Record Type: Publication
- Source Agency: Transport Research Laboratory
- Files: ITRD
- Created Date: Aug 25 2008 8:40AM