Calibration and registration framework for 3D reconstruction of the Kirche Seefeld

T. Abmayr, F. Härtl, G. Hirzinger, D. Burschka, C. Fröhlich

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations

Abstract

In our work we are interested in 'Modeling the Reality': Scenes are reconstructed in a combination of highly accurate geometry and real radiometric textures. Thereby, a common problem is the difficulty to gain colored panoramic 3D data which are highly accurate and have high resolution. Aligned color and range data is the basis for continuative modeling tasks, e.g. textured surface generation, 'as built' models, 3D object recognition and other virtual reality applications. We present a multi-sensor calibration and registration framework that fuses highly accurate and robust colored panoramic 2.5D data. To achieve this, we use a panoramic 2.5D laser scanner in combination with a 2D array camera. To simplify the alignment between multiple viewpoints, we additionally make use of an electronic spirit-level, which is integrated in the scanner system. The applicability of our system is validated on a historical site called 'Kirche Seefeld'. In summary, we present a highly accurate multi sensor system including robust methods for the calibration and registration of the data streams and its fusion to a dense 2.5D point cloud.

Keywords

  • Color scanning
  • Data fusion
  • Range data
  • Registration
  • Sensor calibration
  • Terrestrial laser scanning

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