Abstract
To measure the 3D shape of large objects, scanning by a moving range sensor is one of the most efficient methods. However, if we use moving range sensors, the obtained data have some distortions due to the movement of the sensor during the scanning process. In this paper, we propose a method for recovering correct 3D range data from a moving range sensor by using the multiple view geometry under projective projections in space-time. We assume that range sensor radiates laser beams in a raster scan order, and they are observed from two cameras. We first show that we can deal with range data as 2D images, and show that the extended multiple view geometry can be used for representing the relationship between the 2D image of range data and the 2D image of cameras. We next show that the extended multiple view geometry can be used for rectifying 3D data obtained by the moving range sensor. The method is implemented and tested in synthetic images and range data. The stability of the recovered 3D shape is also evaluated.
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Kazuki Kozuka received the B.Eng. degree in Meijo University, Nagoya, Japan in 2004, and M. Sc. in Nagoya Institute of Technology, Nagoya, Japan in 2006. Currently, he is a Ph.D. candidate at Nagoya Institute of Technology, Nagoya, Japan He is a member of the Institute of Electronics, Information and Communication Engineers (IEICE)..
His research interests include multiple view geometry, segmentation of multiple objects in complex situations, motion detection, and structure from motion.
Cheng Wan received the B. Sc. degree from PLA University of Science and Technology, PRC, in 2001. She is currently a master student at the Department of Computer Science and Engineering, Nagoya Institute of Technology, Japan. She was awarded the Special Session Prize of Meeting on Image Recognition and Understanding 2007.
Her research interests include computer vision and visual geometry.
Jun Sato received the B. Eng. degree from Nagoya Institute of Technology, Japan in 1984, and the Ph.D. degree in information engineering from the University of Cambridge, UK, in 1997. From 1996 to 1998 he was a research associate at the Department of Engineering, University of Cambridge, UK. During 1997–1998, he was an invited researcher at the ATR Human Information Processing Research Laboratories, Kyoto, Japan. He joined the Department of Electrical and Computer Engineering, Nagoya Institute of Technology in 1998 as an associate professor. He is currently a professor at the Department of Computer Science and Engineering, Nagoya Institute of Technology. He was awarded the Best Science Paper Prize of British Machine Vision Conference twice in 1994 and 1997. He is a member of IEEE, IEICE and IPSJ.
His research interests include computer vision, geometric invariants, visual navigation, visual interface, and mixed reality.
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Kozuka, K., Wan, C. & Sato, J. Rectification of 3D data obtained from moving range sensor by using extended projective multiple view geometry. Int. J. Autom. Comput. 5, 268–275 (2008). https://doi.org/10.1007/s11633-008-0268-8
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DOI: https://doi.org/10.1007/s11633-008-0268-8