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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.4 No.4 pp.298-304
DOI :

다중센서 융합 상이 지도를 통한 다중센서 기반 3차원 복원 결과 개선

김 시 종1, 안 광 호1, 성 창 훈2, 정 명 진3
1한국과학기술원 전기 및 전자공학과 박사과정, 2한국과학기술원 전기 및 전자공학과 석사과정, 3한국과학기술원 전기 및 전자공학과 교수

Refinements of Multi-sensor based 3D Reconstructionusing a Multi-sensor Fusion Disparity Map

Si Jong1 Kim, An Kwang Ho1, Sung Chang Hun2, Chung Myung Jin3

Abstract

This paper describes an algorithm that improves 3D reconstruction result using a multi-sensorfusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixelcoordinatesusing extrinsic calibration matrixes of a camera-LRF (Φ, Δ ) and a camera calibration matrix(K ). The LRF disparity map can be generated by interpolating projected LRF points. In the stereoreconstruction, we can compensate invalid points caused by repeated pattern and textureless region usingthe LRF disparity map. The result disparity map of compensation process is the multi-sensor fusiondisparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using themulti-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction isspecified in four subsections dealing with virtual LRF stereo image generation, LRF disparity mapgeneration, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been testedby synchronized stereo image pair and LRF 3D scan data.

Reference

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