3D Reconstruction of Real World Scenes Using a Low-Cost 3D Range Scanner

This paper presents a 3D reconstruction technique for real world environments based on a traditional 2D laser range finder modified to implement a 3D laser scanner. The paper describes the mechanical and control issues addressed to achieve physically the 3D sensor as well as the adaptation of some previously developed techniques used to merge range and intensity data and illustrates the potential of such a unit. The result is a promising system for 3D modelling of real world scenes at a commercial price 10 or 20 times lower than current commercial 3D laser scanners.