3D scene modeling using sensor fusion with laser range finder and image sensor

Yunqian Ma; Zheng Wang; Mike Bazakos; Wing Au

doi:10.1109/AIPR.2005.5

3D scene modeling using sensor fusion with laser range finder and image sensor

Yunqian Ma, Zheng Wang, Mike Bazakos, Wing Au

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

Activity detection (e.g. recognizing people's behavior and intent), when used over an extended range of applications, suffers from high false detection rates. Also, activity detection limited to 2D image domain (symbolic space) is confined to qualitative activities. Symbolic features, represented by apparent dimensions, i.e. pixels, can vary with distance or viewing angle. One way to enhance performance is to work within the physical space, where object features are represented by their physical dimensions (e.g. inches or centimeters) and are invariant to distance or viewing angle. In this paper, we propose an approach to construct a 3D Site Model and co-register the video with the site model to obtain real-time physical reference at every pixel in the video. We present a unique approach that creates a 3D site model via fusion of laser range sensor and a single camera. We present experimental results to demonstrate our approach.

Original language	English (US)
Title of host publication	Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005
Subtitle of host publication	Multi-modal Imaging
Editors	Robert J. Bonneau
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	224-229
Number of pages	6
ISBN (Electronic)	0769524796, 9780769524795
ISBN (Print)	0769524796, 9780769524795
DOIs	https://doi.org/10.1109/AIPR.2005.5
State	Published - Dec 1 2005
Event	34th Applied Image Pattern Recognition Workshop, AIPR 2005 - Washington, United States Duration: Oct 19 2005 → Oct 21 2005

Publication series

Name	Proceedings - Applied Imagery Pattern Recognition Workshop
Volume	2005
ISSN (Print)	1550-5219

Conference

Conference	34th Applied Image Pattern Recognition Workshop, AIPR 2005
Country/Territory	United States
City	Washington
Period	10/19/05 → 10/21/05

Bibliographical note

Publisher Copyright:
© 2005 IEEE.

Publisher link

10.1109/AIPR.2005.5

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Ma, Y., Wang, Z., Bazakos, M., & Au, W. (2005). 3D scene modeling using sensor fusion with laser range finder and image sensor. In R. J. Bonneau (Ed.), Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005: Multi-modal Imaging (pp. 224-229). Article 1612827 (Proceedings - Applied Imagery Pattern Recognition Workshop; Vol. 2005). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIPR.2005.5

3D scene modeling using sensor fusion with laser range finder and image sensor. / Ma, Yunqian; Wang, Zheng; Bazakos, Mike et al.
Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005: Multi-modal Imaging. ed. / Robert J. Bonneau. Institute of Electrical and Electronics Engineers Inc., 2005. p. 224-229 1612827 (Proceedings - Applied Imagery Pattern Recognition Workshop; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ma, Y, Wang, Z, Bazakos, M & Au, W 2005, 3D scene modeling using sensor fusion with laser range finder and image sensor. in RJ Bonneau (ed.), Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005: Multi-modal Imaging., 1612827, Proceedings - Applied Imagery Pattern Recognition Workshop, vol. 2005, Institute of Electrical and Electronics Engineers Inc., pp. 224-229, 34th Applied Image Pattern Recognition Workshop, AIPR 2005, Washington, United States, 10/19/05. https://doi.org/10.1109/AIPR.2005.5

Ma Y, Wang Z, Bazakos M, Au W. 3D scene modeling using sensor fusion with laser range finder and image sensor. In Bonneau RJ, editor, Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005: Multi-modal Imaging. Institute of Electrical and Electronics Engineers Inc. 2005. p. 224-229. 1612827. (Proceedings - Applied Imagery Pattern Recognition Workshop). doi: 10.1109/AIPR.2005.5

Ma, Yunqian ; Wang, Zheng ; Bazakos, Mike et al. / 3D scene modeling using sensor fusion with laser range finder and image sensor. Proceedings - 34th Applied Image Pattern Recognition Workshop, AIPR 2005: Multi-modal Imaging. editor / Robert J. Bonneau. Institute of Electrical and Electronics Engineers Inc., 2005. pp. 224-229 (Proceedings - Applied Imagery Pattern Recognition Workshop).

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abstract = "Activity detection (e.g. recognizing people's behavior and intent), when used over an extended range of applications, suffers from high false detection rates. Also, activity detection limited to 2D image domain (symbolic space) is confined to qualitative activities. Symbolic features, represented by apparent dimensions, i.e. pixels, can vary with distance or viewing angle. One way to enhance performance is to work within the physical space, where object features are represented by their physical dimensions (e.g. inches or centimeters) and are invariant to distance or viewing angle. In this paper, we propose an approach to construct a 3D Site Model and co-register the video with the site model to obtain real-time physical reference at every pixel in the video. We present a unique approach that creates a 3D site model via fusion of laser range sensor and a single camera. We present experimental results to demonstrate our approach.",

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AB - Activity detection (e.g. recognizing people's behavior and intent), when used over an extended range of applications, suffers from high false detection rates. Also, activity detection limited to 2D image domain (symbolic space) is confined to qualitative activities. Symbolic features, represented by apparent dimensions, i.e. pixels, can vary with distance or viewing angle. One way to enhance performance is to work within the physical space, where object features are represented by their physical dimensions (e.g. inches or centimeters) and are invariant to distance or viewing angle. In this paper, we propose an approach to construct a 3D Site Model and co-register the video with the site model to obtain real-time physical reference at every pixel in the video. We present a unique approach that creates a 3D site model via fusion of laser range sensor and a single camera. We present experimental results to demonstrate our approach.

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3D scene modeling using sensor fusion with laser range finder and image sensor

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