High-density 3D reconstruction in a Large space using single camera and 2D LiDAR

We propose a method of 3D reconstructing a large indoor space using a 2D LiDAR and a single camera. This device that combines a 2D LiDAR with a single camera scans 360° areas using a rotating stage. We use this device to scan indoor buildings, solve resolution constraints for rotational stages, and show high-density 3D reconstruction results. It also introduces how to perform indoor reconstruction in a wide area by combining scanned information from various locations.