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Three-dimensional scene reconstruction using stereo camera and laser range finder

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3 Author(s)
Kota Saito ; Graduate School of Environment and Information Sciences, Yokohama National University, Yokohama, Japan ; Noriko Yata ; Tomoharu Nagao

The technology of three-dimensional (3-D) scene reconstruction is expected as applications of simulation, navigation, walk-through and so on. Besides, Segway®, a two-wheeled self-balancing electric vehicle, is being used in public facilities (e.g. airports, shopping centers, event sites). Therefore, it is beneficial to study applications using Segway. In this paper, we propose a method of 3-D scene reconstruction using Segway equipped with a stereo camera and a laser range finder (LRF). Our method estimates the location of Segway by a LRF and reconstruct 3-D environments by integrating 3-D shape information calculated by stereo vision. As the results of the experiments, the rough 3-D scene reconstruction results were obtained.

Published in:

SICE Annual Conference 2010, Proceedings of

Date of Conference:

18-21 Aug. 2010