3D scene reconstruction using panoramic laser scanning and monocular vision

This paper provide a method for reconstruction of non-structured 3D scene both indoor and outdoor. Based on the fusion of panoramic laser and monocular vision, we use Levenberg-Marquardt method to carry out the intrinsic calibration of a camera and the extrinsic calibration between a camera and a 3D laser range finder. We use the calibration result to color the laser data, and then expand to the whole panoramic scene and accomplish the reconstruction of the 3D scene. To expand the range of reconstruction of 3D scene, this paper also provides an improved ICP algorithm to register two scenes. To reduce the computational complexity, we use position and orientation information to preprocessing the laser data to acquire overlapping region, and with the help of KD TREE, the searching of matching pairs is speed up. Experiment results with panoramic laser and monocular vision platform show the validity and practicability of the method.