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Optics and Lasers in Engineering 45 (2007) 808818 3D reconstruction of road surfaces using an integrated

Summary: Optics and Lasers in Engineering 45 (2007) 808­818
3D reconstruction of road surfaces using an integrated
multi-sensory approach
Si-Jie YuĆ, Sreenivas R. Sukumar, Andreas F. Koschan, David L. Page, Mongi A. Abidi
Imaging, Robotics, and Intelligent Systems Laboratory, Department of Electrical & Computer Engineering,
The University of Tennessee, Knoxville, TN 37996, USA
Received 15 February 2006; received in revised form 20 September 2006; accepted 8 December 2006
Available online 15 February 2007
In this paper, we present our experience in building a mobile imaging system that incorporates multi-modality sensors for road surface
mapping and inspection applications. Our proposed system leverages 3D laser-range sensors, video cameras, global positioning systems
(GPS) and inertial measurement units (IMU) towards the generation of photo-realistic, geometrically accurate, geo-referenced 3D
models of road surfaces. Based on our summary of the state-of-the-art systems for a road distress survey, we identify several challenges in
the real-time deployment, integration and visualization of the multi-sensor data. Then, we present our data acquisition and processing
algorithms as a novel two-stage automation procedure that can meet the accuracy requirements with real-time performance. We provide
algorithms for 3D surface reconstruction to process the raw data and deliver detail preserving 3D models that possess accurate depth
information for characterization and visualization of cracks as a significant improvement over contemporary commercial video-based
vision systems.
r 2007 Elsevier Ltd. All rights reserved.
Keywords: Road surface reconstruction; Multi-sensor integration; 3D geometric mapping; Laser range scanning


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee
Koschan, Andreas - Imaging, Robotics, and Intelligent Systems, University of Tennessee


Collections: Computer Technologies and Information Sciences; Engineering