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CRV 2008, 5th Canadian Conference on Computer and Robot Vision 28/05/2008 30/05/2008 Windsor Ontario - Canada Proceedings IEEE
nom du congrès :
CRV 2008, 5th Canadian Conference on Computer and Robot Vision
début du congrès :
28/05/2008
fin du congrès :
30/05/2008
ville du congrès :
Windsor
pays du congrès :
Ontario - Canada
site des actes du congrès :
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Documents disponibles (1)
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Automatic pyramidal intensity-based laser scan matcher for 3D modeling of large scale unstructured environments / Daniela Craciun (2008)
Titre : Automatic pyramidal intensity-based laser scan matcher for 3D modeling of large scale unstructured environments Type de document : Article/Communication Auteurs : Daniela Craciun , Auteur ; Nicolas Paparoditis , Auteur ; Francis Schmitt, Auteur Editeur : New-York : IEEE Computer society Année de publication : 2008 Projets : 2-Pas d'info accessible - article non ouvert / Conférence : CRV 2008, 5th Canadian Conference on Computer and Robot Vision 28/05/2008 30/05/2008 Windsor Ontario - Canada Proceedings IEEE Importance : pp 18 - 25 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] algorithme ICP
[Termes IGN] alignement des données
[Termes IGN] appariement de données localisées
[Termes IGN] chaîne de traitement
[Termes IGN] corrélation automatique de points homologues
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] estimation de cohérence
[Termes IGN] grotte
[Termes IGN] image panoramique
[Termes IGN] image terrestre
[Termes IGN] lever souterrain
[Termes IGN] modèle 3D du site
[Termes IGN] site archéologiqueRésumé : (auteur) We are developing a vision-based system for photorealistic 3D modeling of previously unknown, complex and unstructured underground environments. Nowadays, laser range finders allow us to build 3D maps of the environment by taking multiple scans from different viewpoints. The scans are usually aligned via two post-processing steps: first, a coarse alignment is provided by an operator and second, a fine solution is computed via Iterative ClosestPoint algorithm. In this paper we describe an automatic on line scan matcher system which replaces the two post-processing steps of the existing methods. The scan matcher is powered by a pyramidal pairwise matching of 2D intensity panoramic views using a dense correlation procedure via quaternions. The proposed method does not rely on feature extraction providing thus an environment-independent solution for the scan matching task. The pyramidal structure provides a fast and accurate scan alignment in a coarse to fine approach. The scan matcher allows us to automatically build in situ 3D mosaics by integrating multiple partially overlapping scans based on a topological inference criterion which improves the global matching consistency. Tests on real data from two prehistoric caves are presented and a performance evaluation is given. Numéro de notice : C2008-026 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1109/CRV.2008.35 En ligne : https://doi.org/10.1109/CRV.2008.35 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97388