Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
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DOI：
10.1007/s11263-010-0397-8
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发表时间：
2011-08-01
影响因子：
19.5
通讯作者：
Kweon, In So
中科院分区：
文献类型：
--
作者：
Bok, Yunsu;Jeong, Yekeun;Kweon, In So
将遗产作为数字档案馆保存与保留其物理结构同等重要。数字保存对于大规模遗产至关重要，因为这些遗产往往无法抵御各种类型的破坏，需要频繁的修复。然而，随着遗产规模的扩大，捕捉遗产变得异常困难。在本文中，我们提出了一种利用手持式融合传感器系统重建大规模结构的新方法。该方法包括在校准、运动估计和减少累积误差方面的新方法。该传感器系统由四个摄像头和两个二维激光扫描仪组成，以获得大视场。一种新的标定方法成功地实现了比以前方法低得多的重投影误差。一种运动估计方法通过充分利用大量的观测来提供准确和稳健的相对姿势。在最后一阶段，累积误差减小通过采用弱GPS先验和环路闭合消除了数万帧的漂移。因此，该系统能够捕获和地理登记面积为平方公里的大型遗产建筑。此外，由于不做任何假设或限制，用户可以自由地移动系统，并且可以不费任何努力地控制数字遗产的细节级别。为了展示演出，我们捕捉了几处重要的韩国遗产，包括韩国皇宫景福宫。实验结果表明，所估计的路线与Google的卫星图像和DGPS数据吻合，较好地捕捉和保存了典型建筑的细节外观。
Preserving a heritage as a digital archive is as important as preserving its physical structure. The digital preservation is essential for massive heritages which are often defenceless against various types of destruction and require frequent restorations. However, capturing heritages gets exceedingly harder as their scale grows. In this paper, we present a novel approach to reconstruct a massive-scale structure using a hand-held fusion sensor system. The approach includes new methods on calibration, motion estimation, and accumulated error reduction. The proposed sensor system consists of four cameras and two 2D laser scanners to obtain a wide field-of-view. A new calibration method successfully achieves a much lower reprojection error compared to the previous method. A motion estimation method provides accurate and robust relative poses by fully utilizing plenty observations. At the last stage, the accumulated error reduction removes the drift occurred over tens of thousands frames by adopting weak GPS prior and loop closing. Therefore the system is able to capture and geo-register large heritage architectures of square kilometers size. Furthermore, because no assumption or restriction is made, the user can freely move the system and can control the level of detail of the digital heritage without any effort. To demonstrate the performance, we have captured several important Korean heritages including Gyeongbok-Gung, the royal palace of Korea. The experimental result shows that the estimated route fits Google's satellite image and DGPS data while the detailed appearances of representative constructions are captured and preserved well.