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Proceedings Paper

Data acquiring support system using recommendation degree map for 3D outdoor modeling
Author(s): Toshihiro Asai; Masayuki Kanbara; Naokazu Yokoya
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Paper Abstract

We propose a support system of range data acquisition by a laser rangefinder for wide area outdoor modeling in order to reduce un-observed portions of generated model. The system presents the operator a recommendation degree map which illustrates recommendation position of acquisition of range data in the objective area. The operator decides a next acquisition position in consideration of movement distance of sensor system and recommendation degrees of the map. The recommendation degree is computed by measurement density as the index. The recommendation degree at a position is given by the difference between measurement density acquired by rangefinder and measurement density estimated by the system in reachable area of the laser beams. The reachable area of the laser beams is estimated by using a 3D model generated from the acquired range data. The system computes the measurement density by the reachable area of the laser beams. The recommendation degrees in the objective area are computed by the model generated from range data whenever a range data is acquired. Moreover, the system judges whether overlapping portions of the range data can be acquired for the registration by ICP algorithm from a work area which the sensor system can enter.

Paper Details

Date Published: 29 January 2007
PDF: 8 pages
Proc. SPIE 6491, Videometrics IX, 64910H (29 January 2007); doi: 10.1117/12.704292
Show Author Affiliations
Toshihiro Asai, Nara Institute of Science and Technology (Japan)
Masayuki Kanbara, Nara Institute of Science and Technology (Japan)
Naokazu Yokoya, Nara Institute of Science and Technology (Japan)

Published in SPIE Proceedings Vol. 6491:
Videometrics IX
J.-Angelo Beraldin; Fabio Remondino; Mark R. Shortis, Editor(s)

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