A 3D Reconstruction with High Density and Accuracy Using Laser Profiler and Camera Fusion System on a Rover

3D Sensing systems mounted on mobile platform are emerging and have been developed for various applications. In this paper, we propose a profiler scanning system mounted on a rover to scan and reconstruct a bas-relief with high density and accuracy. Our hardware system consists of an omnidirectional camera and a 3D laser scanner. Our method selects good projection points for tracking to estimate motion stably and reject mismatches caused by difference between the positions of laser scanner and camera using an error metric based on the distance from omnidirectional camera to scanned point. We demonstrate that our results has better accuracy than comparable approach. In addition to local motion estimation method, we propose global poses refinement method using multi modal 2D-3D registration and our result shows good consistency between reflectance image and 2D RGB image.