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Reconstructing a textured CAD model of an urban environment using vehicle-borne laser range scanners and line cameras

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Abstract. In this paper, a novel method is presented for generating a textured CAD model of an outdoor urban environment using a vehicle-borne sensor system. In data measurement, three single-row laser range scanners and six line cameras are mounted on a measurement vehicle, which has been equipped with a GPS/INS/Odometer-based navigation system. Laser range and line images are measured as the vehicle moves forward. They are synchronized with the navigation system so they can be geo-referenced to a world coordinate system. Generation of the CAD model is conducted in two steps. A geometric model is first generated using the geo-referenced laser range data, where urban features, such as buildings, ground surfaces, and trees are extracted in a hierarchical way. Different urban features are represented using different geometric primitives, such as a planar face, a triangulated irregular network (TIN), and a triangle. The texture of the urban features is generated by projecting and resampling line images onto the geometric model. An outdoor experiment is conducted, and a textured CAD model of a real urban environment is reconstructed in a full automatic mode.

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Zhao, H., Shibasaki, R. Reconstructing a textured CAD model of an urban environment using vehicle-borne laser range scanners and line cameras. Machine Vision and Applications 14, 35–41 (2003). https://doi.org/10.1007/s00138-002-0099-5

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  • DOI: https://doi.org/10.1007/s00138-002-0099-5

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