Onboard Real-time System for Digitizing and Geo-referencing of 3D Urban Environments

Iyad Abuhadrous (1) , Fawzi Nashashibi (1) , Claude Laurgeau (1) , Francois Goulette (1)

1 CAOR - Centre de Robotique

The onboard real-time system for three-dimensional environment reconstruction consists of an instrumented vehicle equipped with a 2D laser range scanner for data mapping, and GPS, INS and odometers for vehicle positioning and attitude information. The advantage of this system is its ability to perform data acquisition during the robot or vehicle navigation; the sensor needed being a basic 2D scanner with opposition to traditional expensive 3D sensors. Real-time data fusion is performed using an onboard software platform called RTMAPS. This system integrates the laser raw range data with the vehicle’s internal state estimator and is capable of reconstructing the 3D geometry of the environment by real-time geo-referencing instead of traditional pose estimation and data fusion approaches.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Iyad Abuhadrous, Fawzi Nashashibi, Claude Laurgeau, Francois Goulette. Onboard Real-time System for Digitizing and Geo-referencing of 3D Urban Environments. International Conference on Advanced Robotics (ICAR), Jun 2003, Coimbra, Portugal. ⟨hal-01259655⟩