Three-dimensional scene reconstruction using stereo camera and laser range finder

The technology of three-dimensional (3-D) scene reconstruction is expected as applications of simulation, navigation, walk-through and so on. Besides, Segway®, a two-wheeled self-balancing electric vehicle, is being used in public facilities (e.g. airports, shopping centers, event sites). Therefore, it is beneficial to study applications using Segway. In this paper, we propose a method of 3-D scene reconstruction using Segway equipped with a stereo camera and a laser range finder (LRF). Our method estimates the location of Segway by a LRF and reconstruct 3-D environments by integrating 3-D shape information calculated by stereo vision. As the results of the experiments, the rough 3-D scene reconstruction results were obtained.