Rectification of 3D data obtained from moving range sensor by using extended projective multiple view geometry

Abstract

To measure the 3D shape of large objects, scanning by a moving range sensor is one of the most efficient methods. However, if we use moving range sensors, the obtained data have some distortions due to the movement of the sensor during the scanning process. In this paper, we propose a method for recovering correct 3D range data from a moving range sensor by using the multiple view geometry under projective projections in space-time. We assume that range sensor radiates laser beams in a raster scan order, and they are observed from two cameras. We first show that we can deal with range data as 2D images, and show that the extended multiple view geometry can be used for representing the relationship between the 2D image of range data and the 2D image of cameras. We next show that the extended multiple view geometry can be used for rectifying 3D data obtained by the moving range sensor. The method is implemented and tested in synthetic images and range data. The stability of the recovered 3D shape is also evaluated.