Rectification of 3D Data Obtained from Moving Range Sensors by using Multiple View Geometry

For measuring the 3D shape of large objects, scanning by a moving range sensor is one of the most efficient method. 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. We assume that range sensor radiates laser beams in raster scan order, and they are observed from a static camera. We first show that we can deal with range data as 3D space-time images, and show that the extended multiple view geometry can be used for representing the relationship between the 3D space-time of camera image and the 3D space-time of range data. We next show that the multiple view geometry under extended projections 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 recovered 3D shape is also evaluated.