3D Laser scanning system and 3D segmentation of urban scenes

Abstract

This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.

Relative Pose Estimation and Fusion of Omnidirectional and Lidar Cameras

“…This was then uniformly sampled to get a dense homogeneous set of points (i.e. we do not rely on the Lidar resolution after segmentation), which was subsequently transformed with a rigid motion (R 0 , t 0 ) into the Z = 0 plane yielding appropriate point coordinates X used in the right hand side of (6). The x points of the left hand side of (6) are fed with the pixel coordinates of the segmented omnidirectional image.…”

“…After the first 2D-3D region pair establishment, further ones can easily be added by searching with a sample consensus approach for the neighbor plain patches. We remark, that a fully automatic region correspondence could be implemented by detecting and extracting windows [6] (see e.g. Fig.…”

Automobile indexation from 3D point clouds of urban scenarios

“…In [12] is proposed as a solution to automate mobile robots by segmenting the urban scene. In one point cloud, they stored the building's facade and the ground, and on another, they stored the foreground.…”

Detección de Automóviles en Escenarios Urbanos Escaneados por un Lidar

“…El trabajo presentado en Goron et al (2010) resuelve problemas específicos de automatización. La primera parte describe los detalles de su sistema de escaneo basado en un láser 2D;…”