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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.1 No.2 pp.180-187

CALOS : 주행계 추정을 위한 카메라와 레이저 융합

복 윤 수, 황 영 배1, 권 인 소2
KAIST 전자전산학부 박사과정, 1KAIST 전자전산학부 박사과정, 2KAIST 전자전산학부 교수

CALOS : Camera And Laser for Odometry Sensing

Yunsu Bok, Youngbae Hwang1, In So Kweon2


This paper presents a new sensor system, CALOS, for motion estimation and 3D reconstruction. The2D laser sensor provides accurate depth information of a plane, not the whole 3D structure. On the contrary, theCCD cameras provide the projected image of whole 3D scene, not the depth of the scene. To overcome thelimitations, we combine these two types of sensors, the laser sensor and the CCD cameras. We develop a motionestimation scheme appropriate for this sensor system. In the proposed scheme, the motion between two frames isestimated by using three points among the scan data and their corresponding image points, and refined bynon-linear optimization. We validate the accuracy of the proposed method by 3D reconstruction using realimages. The results show that the proposed system can be a practical solution for motion estimation as well asfor 3D reconstruction.


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