Laser range scanner based on self-calibration techniques using coplanarities and metric constraints

Ryo Furukawa, Hiroshi Kawasaki

研究成果: Contribution to journalArticle査読

19 被引用数 (Scopus)

抄録

In this paper, we propose a novel method to achieve both dense 3D reconstruction of the scene and estimation of the camera intrinsic parameters by using coplanarities and other constraints (e.g., orthogonalities or parallelisms) derived from relations between planes in the scene and reflected curves of line lasers captured by a single camera. In our study, we categorize coplanarities in the scene into two types: implicit coplanarities, which can be observed as reflected curves of line lasers, and explicit coplanarities, which are, for example, observed as walls of a building. By using both types of coplanarities, we can construct simultaneous equations and can solve them up to four degrees of freedom. To upgrade the solution to the Euclidean space and estimate the camera intrinsic parameters, we can use metric constraints such as orthogonalities of the planes. Such metric constraints are given by, for example, observing the corners of rectangular boxes in the scene, or using special laser projecting device composed of two line lasers whose laser planes are configured to be perpendicular.

本文言語英語
ページ(範囲)1118-1129
ページ数12
ジャーナルComputer Vision and Image Understanding
113
11
DOI
出版ステータス出版済み - 11 1 2009
外部発表はい

All Science Journal Classification (ASJC) codes

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition

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