Range and Vision Sensors Fusion for Outdoor 3D Reconstruction
| Autor: | Omar Ait-Aider, Patrice Faure, Raphaël Rouveure, François Berry, Ghina El Natour |
|---|---|
| Přispěvatelé: | berry, francois, Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), Technologies et systèmes d'information pour les agrosystèmes (UR TSCF), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Institut Pascal - Clermont Auvergne (IP), Sigma CLERMONT (Sigma CLERMONT)-Université Clermont Auvergne (UCA)-Centre National de la Recherche Scientifique (CNRS), Institut Pascal (IP), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Sigma CLERMONT (Sigma CLERMONT)-Centre National de la Recherche Scientifique (CNRS), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS), Irstea Publications, Migration |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
[SDE] Environmental Sciences
[INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR] [INFO.INFO-AR] Computer Science [cs]/Hardware Architecture [cs.AR] Computer science Coordinate system ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology System model law.invention [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] law Robustness (computer science) 0202 electrical engineering electronic engineering information engineering High spatial resolution Computer vision Radar ComputingMilieux_MISCELLANEOUS business.industry 3D reconstruction [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] 020206 networking & telecommunications Microwave radar Vision sensor [SDE]Environmental Sciences 020201 artificial intelligence & image processing Artificial intelligence business |
| Zdroj: | International Conference on Computer Vision Theory and Applications International Conference on Computer Vision Theory and Applications, Mar 2015, Berlin, Germany. pp.1-6 VISAPP (1) VISAPP (1), 2015, Unknown, Unknown Region. pp.202--208 |
| Popis: | [Departement_IRSTEA]Ecotechnologies [TR1_IRSTEA]INSPIRE; International audience; The conscience of the surrounding environment is inevitable task for several applications such as mapping, autonomous navigation and localization. In this paper we are interested by exploiting the complementarity of a panoramic microwave radar and a monocular camera for 3D reconstruction of large scale environments. Considering the robustness to environmental conditions and depth detection ability of the radar on one hand, and the high spatial resolution of a vision sensor on the other hand, makes these tow sensors well adapted for large scale outdoor cartography. Firstly, the system model of the two sensors is represented and a new 3D reconstruction method based on sensors geometry is introduced. Secondly, we address the global calibration problem which consists in finding the exact transformation between radar and camera coordinate systems. The method is based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Both methods have been validated with synthetic and real data. |
| Databáze: | OpenAIRE |
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