Image-Laser Fusion for In Situ 3D Modeling of Complex Environments: A 4D Panoramic-Driven Approach [chapter]

Daniela Craciun, Nicolas Paparoditis, Francis Schmitt
2012 Modeling and Simulation in Engineering  
1 2 Will-be-set-by- IN-TECH important aspect for the in-situ modeling process, allowing the system to be aware and to act intelligently on-the-fly in order to explore and digitize the entire site. For this reason, we introduce it as ARTVISYS, the acronym for ARTificial VIsion-based SYStem. The in-situ 3D modeling problem The in-situ 3D modeling problem is concerned with the automatic environment sensing through the use of active (laser) and/or passive (cameras) 3D vision and
more » ... ims at generating in-situ the complete 3D scene model in a step by step fashion. At each step, the currently generated 3D scene model must be exploited along with visual servoing procedures in order to guide the system to act intelligently on-the-fly to ensure in-situ the 3D scene model completeness. Systems embedding active 3D vision are suitable for generating in-situ complete 3D models of previously unknown and high-risk environments. Such systems rely on visual-based environment perception provided by a sequentially generated 3D scene representation. Onboard 3D scene representation for navigation purposes was pioneered by Moravec's back in the 1980s (Moravec, 1980) . Since then, Computer Vision and Robotics research communities have intensively focused their efforts to provide vision-based autonomous behavior to unmanned systems, special attention being given to the vision-based autonomous navigation problem. In (Nister et al., 2004) , Nister demonstrated the feasibility of a purely vision-based odometry system, showing that an alternative for localization in GPS-denied areas can rely on artificial vision basis. Several research works introduced either 2D and 3D
doi:10.5772/30269 fatcat:m25yasqni5fn7hfln5my4s2gbi