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Title:
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SLAM-based 3D outdoor reconstructions from lidar data
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Author:
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Caminal Colell, Ivan; Casas Pla, Josep Ramon; Royo Royo, Santiago
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions; Universitat Politècnica de Catalunya. Departament d'Òptica i Optometria; Universitat Politècnica de Catalunya. GPI - Grup de Processament d'Imatge i Vídeo; Universitat Politècnica de Catalunya. GREO - Grup de Recerca en Enginyeria Òptica |
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Abstract:
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The use of depth (RGBD) cameras to reconstruct large outdoor environments is not feasible due to lighting conditions
and low depth range. LIDAR sensors can be used instead.
Most state of the art SLAM methods are devoted to indoor environments and depth (RGBD) cameras. We have adapted two SLAM systems to work with LIDAR data. We have compared the systems for LIDAR and RGBD data by performing quantitative evaluations. Results show that the best method for LIDAR data is RTAB-Map with a clear difference. Additionally, RTAB-Map has been used to create 3D reconstructions with and without photometry from a visible color camera. This proves the potential of LIDAR sensors for the reconstruction of outdoor environments for immersion or audiovisual production applications |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Telecomunicació òptica
-Optical radar
-LIDAR cameras
-mapping
-time-of-flight
-SLAM
-3D imaging
-point-cloud processing
-Radar òptic |
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Rights:
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Document type:
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Article - Submitted version
Conference Object |
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Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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