Vision-based 3D laser point cloud rendering and depthmap construction
Dong Chen, Shengpeng Yang, Yan Zhuang, Wei Wang · Chinese Control Conference · 2010
This paper focuses on data fusion issues between 3D laser scanner and monocular vision in unstructured indoor and outdoor scenes. The 3D laser scanner and monocular vision are calibrated through an interactive way and the resulting parameters are verified through point cloud rendering. Based on the obtained calibration parameters, a sparse depthmap is created by projecting the 3D laser data onto image plane where a dynamic grid is used to stitch the depth information. Validity and practicability of the method are verified using the self-designed experimental platform.