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Summary: A New Multi-Sensor Registration Technique for Three Dimensional
Scene Modeling with Application to Unmanned Vehicle Mobility
Enhancement
Faysal Boughorbel, Andreas Koschan*
, and Mongi Abidi
Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer
Engineering, 409 Ferris Hall, The University of Tennessee, Knoxville, TN, 37996, United States
ABSTRACT
The focus of this paper is on the reconstruction of 3D representations of real world scenes and objects using multiple
sensors with, as one of its main applications, the enhancement of the autonomy and mobility of unmanned vehicles. The
sensors considered are primarily range acquisition devices (such as laser scanners and stereo systems) that allow the
recovery of 3D geometry. One of the most important technical challenges that we are addressing is the registration task
in both its multi-modal and single modality aspects. Our work is based on a unified approach that formulates the
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