Search results for "Point Cloud Registration"
showing 2 items of 2 documents
High Quality Reconstruction of Dynamic Objects using 2D-3D Camera Fusion
2017
International audience; In this paper, we propose a complete pipeline for high quality reconstruction of dynamic objects using 2D-3D camera setup attached to a moving vehicle. Starting from the segmented motion trajectories of individual objects, we compute their precise motion parameters, register multiple sparse point clouds to increase the density, and develop a smooth and textured surface from the dense (but scattered) point cloud. The success of our method relies on the proposed optimization framework for accurate motion estimation between two sparse point clouds. Our formulation for fusing it closest-point and it consensus based motion estimations, respectively in the absence and pres…
Dynamic 3D Scene Reconstruction and Enhancement
2017
International audience; In this paper, we present a 3D reconstruction and enhancement approach for high quality dynamic city scene reconstructions. We first detect and segment the moving objects using 3D Motion Segmenta-tion approach by exploiting the feature trajectories' behaviours. Getting the segmentations of both the dynamic scene parts and the static scene parts, we propose an efficient point cloud registration approach which takes the advantages of 3-point RANSAC and Iterative Closest Points algorithms to produce precise point cloud alignment. Furthermore, we proposed a point cloud smoothing and texture mapping framework to enhance the results of reconstructions for both the static a…