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| 3D dense reconstruction based on omnidirectional camera and laser range finder |
| YANG Li, LIU Jun-yi, WANG Yan-chang, LIU Ji-lin |
| Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China |
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Abstract To produce the 360-degree three dimensional reconstruction, a calibration and data fusion methods were proposed based on omnidirectional camera and laser range finder. Using the 2D checkerboard for joint calibration, our method doesn’t rely on the edge information of the lidar data, thus avoids the error of feature extraction. We also proposed a dense 3D reconstruction method based on superpixel. First, an image is segmented into superpixel blocks, then the plane of the block is estimated based on the lidar data, and last the depth information of each pixel in the superpixel block is calculated. As the experimental results show, the calibration is accurate, the contour of the scene is clear and the mapping of the color is correct.
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Published: 01 August 2014
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基于全景相机和全向激光雷达的致密三维重建
为了实现360°全景三维重建,提出一种基于全景相机和全向激光雷达的联合标定和数据融合方法.采用二维平面靶标进行联合标定,克服传统方法中提取雷达数据边缘信息不精确导致的误差,并且标定过程简单.在此基础上,提出一种基于超像素分割的致密三维重建算法,得到与物体平面一致的超像素块分割结果,根据超像素块内三维点估算物体平面,推算每个像素的深度信息,得到致密的三维重建信息.结果表明，该算法标定结果精确,三维重建景物轮廓清晰,色彩对应准确.
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