Integration of LiDAR and camera data for 3D reconstruction

In this work, we propose an integration of the LiDAR device and a pair of binocular cameras for egomotion estimation and 3D reconstruction. The proposed system simultaneously acquires both range data and image data as input and calibrates the LiDAR and the cameras to determine the correspondences between them. Egomotion is determined as the system moves within the environment and finally the egomotion is used to register and integrate the data from the LiDAR device and the cameras to construct a 3D model of the environment. 3D reconstructions for both indoor and outdoor environments are performed to demonstrate the effectiveness of the proposed method.