Cart (Loading....) | Create Account
Close category search window
 

Digitizing and 3D modeling of urban environments and roads using vehicle-borne laser scanner system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Abuhadrous, I. ; Center of Robotics, Ecole des Mines de Paris, France ; Ammoun, S. ; Nashashibi, F. ; Goulette, F.
more authors

In this paper we present a system for three-dimensional environment modeling. It consists of an instrumented vehicle equipped with a 2D laser range scanner for data mapping, and GPS, INS and odometers for vehicle positioning and attitude information. The advantage of this system is its ability to perform data acquisition during the vehicle navigation; the sensor needed being a basic 2D scanner with opposition to traditional expensive 3D sensors. This system integrates the laser raw range data with the vehicle's internal state estimator and is capable of reconstructing the 3D geometry of the environment by real-time geo-referencing. We propose a high level representation of the urban scene while identifying automatically and in real time some types of existing objects in this environment. Thus, our modeling is articulated around three principal axes: the segmentation, decimation, the 3D reconstruction and visualization. The road is the most important object for us; some road features like the curvature and the width are extracted.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

28 Sept.-2 Oct. 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.