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Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor

In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on...

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Detalles Bibliográficos
Autores principales: El Natour, Ghina, Ait-Aider, Omar, Rouveure, Raphael, Berry, François, Faure, Patrice
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2015
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4634451/
https://www.ncbi.nlm.nih.gov/pubmed/26473874
http://dx.doi.org/10.3390/s151025937
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author El Natour, Ghina
Ait-Aider, Omar
Rouveure, Raphael
Berry, François
Faure, Patrice
author_facet El Natour, Ghina
Ait-Aider, Omar
Rouveure, Raphael
Berry, François
Faure, Patrice
author_sort El Natour, Ghina
collection PubMed
description In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on the one hand, and the high spatial resolution of a vision sensor, on the other. Firstly, geometric modeling of each sensor and of the entire system is presented. Secondly, we address the global calibration problem, which consists of finding the exact transformation between the sensors’ coordinate systems. Two implementation methods are proposed and compared, based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Unlike existing methods, no special configuration of the 3D points is required for calibration. This makes the methods flexible and easy to use by a non-expert operator. Finally, we present a very simple, yet robust 3D reconstruction method based on the sensors’ geometry. This method enables one to reconstruct observed features in 3D using one acquisition (static sensor), which is not always met in the state of the art for outdoor scene reconstruction. The proposed methods have been validated with synthetic and real data.
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spelling pubmed-46344512015-11-23 Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor El Natour, Ghina Ait-Aider, Omar Rouveure, Raphael Berry, François Faure, Patrice Sensors (Basel) Article In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on the one hand, and the high spatial resolution of a vision sensor, on the other. Firstly, geometric modeling of each sensor and of the entire system is presented. Secondly, we address the global calibration problem, which consists of finding the exact transformation between the sensors’ coordinate systems. Two implementation methods are proposed and compared, based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Unlike existing methods, no special configuration of the 3D points is required for calibration. This makes the methods flexible and easy to use by a non-expert operator. Finally, we present a very simple, yet robust 3D reconstruction method based on the sensors’ geometry. This method enables one to reconstruct observed features in 3D using one acquisition (static sensor), which is not always met in the state of the art for outdoor scene reconstruction. The proposed methods have been validated with synthetic and real data. MDPI 2015-10-14 /pmc/articles/PMC4634451/ /pubmed/26473874 http://dx.doi.org/10.3390/s151025937 Text en © 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
El Natour, Ghina
Ait-Aider, Omar
Rouveure, Raphael
Berry, François
Faure, Patrice
Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title_full Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title_fullStr Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title_full_unstemmed Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title_short Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor
title_sort toward 3d reconstruction of outdoor scenes using an mmw radar and a monocular vision sensor
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4634451/
https://www.ncbi.nlm.nih.gov/pubmed/26473874
http://dx.doi.org/10.3390/s151025937
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