Reconstruction using Scanned Laser and Video

Projektinformationen

RESOLV

ID Finanzhilfevereinbarung: AC021

Projekt abgeschlossen

Startdatum 1 September 1995

Enddatum 31 August 1998

Finanziert unter

• Specific programme of research, technological development and demonstration in the area of advanced communications technologies and services, 1994-1998

Gesamtkosten

€ 2 179 000,00

EU-Beitrag

€ 1 231 000,00

Koordiniert durch

BICC plc
United Kingdom

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Links zu Ergebnissen und Veröffentlichungen von RP7-Projekten sowie Links zu einigen Typen spezifischer Ergebnisse wie Datensätzen und Software werden dynamisch von OpenAIRE abgerufen.

Verwertbare Ergebnisse

RESOLV: reconstruction using scanned laser and video

The RESOLV project produces a cost-effective system for creating realistic 3-dimensional models of the environment. These will enhance the sense of 'being there' for telepresence and virtual reality applications. The models will also be sufficiently accurate for real estate, construction and other industrial applications. A portable unit known as an EST (Environmental Sensor for Telepresence) is taken around the environment that is to be captured. The EST includes a scanning laser rangefinder for capturing the 3-dimensional structure of the surroundings and a video camera for adding the textures. The environment is scanned from a number of capture positions but the reconstructed model can be viewed from any position. Surfaces are recognized by processing the range data and are textured from the camera images. By combining what is seen from neighbouring capture positions, surfaces that would be occluded from one position are recorded. The EST travels from one capture position to another on a trolley or an autonomous vehicle. The environment is reconstructed as the EST progresses and each new position is registered with previous ones using key points in the surroundings. The partial reconstruction is used to determine future capture positions. Following completion of the Requirements and Specification reports, the prototype EST trolley has been assembled. The spatial reconstruction and texture algorithms have been integrated to produce textured scenes such as those shown here. The software has been transferred from the workstation development environment to the personal computer (PC) in the EST so that reconstruction can take place during the capture process. The navigation and registration algorithms for the Autonomous EST have been tested and these were demonstrated in early 1997. A high speed laser scanner has been evaluated and will be included in the Autonomous EST.