Reconstruction of 3D Urban Scenes Using a Moving Lidar Sensor

Józsa, Oszkár and Benedek, Csaba (2013) Reconstruction of 3D Urban Scenes Using a Moving Lidar Sensor. Technical Report. MTA SZTAKI, Budapest.

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Abstract

In this report, we propose algorithms which interpret and display 3D environments.The input of this procedure is a LiDAR sensor mounted atop of a car. The sensor outputs a data stream covering more than 100 meters radius of space, collecting data at 15Hz. The recording is done in real environment on the streets of Budapest in real time, while the processing is offline, implemented on CPU keeping in mind the future implementation on GPUs to reach real time data processing. The aim is to segment several region classes (such as roads, building walls, vegetation) and to identify specified objects (such as people, vehicles, traffic signs) in the point clouds through a presegmentation step. To achieve this classification, we need several features such as the color and geometrical properties of the specified objects and their possible geometrical and physical interactions. Also, we need to take into account the time domain features calculated based on the LiDAR data stream. After this presegmentation step we are able to reconstruct building facades in 3D and to track the detected objects in the 3D space. Also, in the future, this processed data set can be registered against 2D images provided by conventional cameras to reproduce realistic, colored 3D virtual

Item Type: Monograph (Technical Report)
Uncontrolled Keywords: rotating multi-beam Lidar, pointcloud analysis, city reconstruction
Subjects: Q Science > QA Mathematics and Computer Science
Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Distributed Events Analysis Research Laboratory
Depositing User: Csaba Benedek
Date Deposited: 16 Apr 2013 06:36
Last Modified: 17 Dec 2013 07:54
URI: http://eprints.sztaki.hu/id/eprint/7154

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