This paper describes work-in-progress aimed at generating dense 3D maps of urban environments using laser range data acquired from a moving platform. These maps display both fine-scale detail (resolving features only a few centimeters across) and large-scale consistency (typical maps are approximately 0.5 km on a side). In this paper, we sketch a basic 3D mapping algorithm (paying particular at...

Mobile robots can use geometric or topological maps of their environment to navigate reliably. Automatic creation of such maps is still an unrealized goal, especially in environments that have large cyclical structures. Drawing on recent techniques of global registration and correlation, we present a method, called Local Registration and Global Correlation (LRGC), for reliable reconstruction of...

For autonomous navigation in restricted environments, micro aerial vehicles (MAV) need to create 3D maps of their surroundings and must track their motion within these maps. In this paper, we propose an approach to simultaneous localization and mapping that is based on the measurements of a lightweight 3D laser-range finder. We aggregate laser-range measurements by registering sparse 3D scans w...

from Active and Passive Colour Stereo Vision Alois Knoll, Ralf Schr oder, and Andr e Wolfram University of Bielefeld, Faculty of Technology, Department of Computer Science, Postfach 10 01 31, D-33501 Bielefeld, Germany Abstract The problem of correspondence search in a stereo system may be alleviated if an active light source projects colour codes onto the scene. To reduce the amount of ambigu...

We propose a semi-automatic omnidirectional texturing method that maps a spherical image onto a dense 3D model obtained by a range sensor. For accurate texturing, accurate estimation of the extrinsic parameters is inevitable. In order to estimate these parameters, we propose a robust 3D registration-based method between a dense range data set and a sparse spherical image stereo data set. For me...

For Fr$acute{mathbf{text{e}}}$chet algebras $(A, (p_n))$ and $(B, (q_n))$, a linear map $T:Arightarrow B$ is textit{almost multiplicative} with respect to $(p_n)$ and $(q_n)$, if there exists $varepsilongeq 0$ such that $q_n(Tab - Ta Tb)leq varepsilon p_n(a) p_n(b),$ for all $n in mathbb{N}$, $a, b in A$, and it is called textit{weakly almost multiplicative} with respect to $(p_n)$ and $(q_n)$...

We propose a novel pipeline for 3D reconstruction from image sequences that solely relies on dense methods. At no point sparse features are required. As input we only need a sequence of color images capturing a static scene while following a continuous path. Furthermore, we assume that an intrinsic camera calibration is known. Our pipeline comprises three steps: (1) First, we jointly estimate c...