Multi-Sensor Panorama Fusion and Visualization
نویسندگان
چکیده
The paper describes a general approach for scanning and visualizing panoramic (360◦) indoor scenes. It combines range data acquired by a laser range finder with color pictures acquired by a rotating CCD line camera. The paper describes coordinate systems of both sensors, specifies the fusion of range and color data acquired by both sensors, and reports on three different alternatives for visualizing the generated 3D data set. Compared to earlier publications the recent approach also utilizes an improved method for calculating the spatial (geometric) correspondence between laser diode of the laser range finder and the focal point of the rotating CCD line camera. Calibration is not a subject in this paper; we assume that calibrated parameters are available utilizing a method as described in [12].
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