A Panoramic 3D Vision System from Multiple RGBD Sensors

07/14/2018

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by   Hang Liu, et al.

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This letter presents a panoramic 3D vision system that was designed specifically for mapping the indoor environment. The system consists of multiple RGBD sensors that cover a 360^∘ field of view, simplifying the reconstruction of indoor environments. A new extrinsic calibration approach is proposed to estimate the relative poses between the RGBD sensors. This approach relies on well-matched keypoints from a descriptor-based pattern, in this case, of a minimally overlapping field of view between sensors. A distributed capturing system was also designed to provide panoramic RGBD frames in real time. Experiments validate the accuracy of the proposed calibration approach and the efficiency of the proposed panoramic 3D vision system for indoor mapping.