Traitements de nuages de points denses et modélisation 3D d'environnements par système mobile LiDAR/Caméra

Abstract : The Robotics Laboratory CAOR from Mines ParisTech has developed a technique for 3D scanning of outdoor environments, using a mobile system called LARA3D. This is a car with location sensors (GPS, inertial unit) and modeling sensors (lidars and cameras). This device can build 3D point clouds and geo-referenced images of the environment. As part of this thesis, we have developed a processing chain of these point clouds and images for generating photo-realistic 3D models. This modeling chain has many processing steps with in order : normal computation, denoising, planar area segmentation, triangulation, simplification and texturing. We have applied our modeling method on synthetic data and on real data acquired through project TerraNumerica (in urban environment) and project Divas (in road environment).
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Submitted on : Monday, March 28, 2011 - 10:09:36 AM
Last modification on : Monday, November 12, 2018 - 11:00:30 AM
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  • HAL Id : pastel-00580384, version 1

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Jean-Emmanuel Deschaud. Traitements de nuages de points denses et modélisation 3D d'environnements par système mobile LiDAR/Caméra. Vision par ordinateur et reconnaissance de formes [cs.CV]. École Nationale Supérieure des Mines de Paris, 2010. Français. ⟨NNT : 2010ENMP0041⟩. ⟨pastel-00580384⟩

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