GPS Precision Time Stamping for the HDL-64E Lidar Sensor and Data Fusion

3D reconstruction of large scale areas was created by merging real world information from different sensors, this is an important issue in multimedia research. In this paper, we propose an efficient construction of urban scenes from LIDAR data. The system is composed of a Velodyne LIDAR 64E and a differential GPS. The sensors are synchronized through their internal clocks, and the position of the LIDAR acquisition is given by the GPS data. In this work, we computed the position using plane geodetic UTM (Universal Transverse Mercator) coordinates by Cotticchia-Surace algorithm which allows us to obtain centimeter accuracy. The translation vector between acquisitions is computed using the GPS position, and the rotation matrix is computed using the planes extracted from the environment. The results show a 3D reconstruction of large scale city.