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.

• Authors:
  • ONO, S
  • Ikeuchi, Katsushi
• Publication Date: 2008

Language

• English

Media Info

• Pagination: 67-75
• 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