PALM: portable sensor-augmented vision system for large-scene modeling

We propose PALM-a portable sensor-augmented vision system for large-scene modeling. The system solves the problem of recovering large structures in arbitrary scenes from video streams taken by a sensor-augmented camera. Central to the solution method is the use of multiple constraints derived from GPS measurements, camera orientation sensor readings, and image features. The knowledge of camera orientation enhances computational efficiency by making a linear formulation of perspective ray constraints possible. The overall shape is constructed by merging smaller shape segments. Shape merging errors are minimized using the concept of shape hierarchy, which is realized through a "landmarking" technique. The features of the system include its use of a small number of images and feature points, its portability, and its low cost interface for synchronizing sensor measurements with the video stream. Example reconstructions of a football stadium and two large buildings are presented and these results are compared with the ground truth.