Machine Vision and Applications

, Volume 14, Issue 1, pp 35–41

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

  • Huijing Zhao
  • Ryosuke Shibasaki
Special Issue on Computer Vision Systems

DOI: 10.1007/s00138-002-0099-5

Cite this article as:
Zhao, H. & Shibasaki, R. Machine Vision and Applications (2003) 14: 35. doi:10.1007/s00138-002-0099-5

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.

Keywords: 3D modeling – Urban outdoor – Mobile system – Laser range scanner – Line camera 

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Huijing Zhao
    • 1
  • Ryosuke Shibasaki
    • 1
  1. 1.Center for Spatial Information Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan; e-mail: chou@skl.iis-u-tokyo.ac.jp JP