An autonomous sensor for 3D reconstruction

We describe an automated approach to the reconstruction of 3D interiors from laser range data and digital images. This is achieved using a scanning laser rangefinder and digital camera that are mounted on an autonomous mobile platform known as the AEST. The objective is to reproduce complete interiors that are accurate enough for surveying, virtual studio and Augmented Reality applications. The AEST selects and navigates to a series of capture points to progressively reconstruct a 3D textured model to the required degree of accuracy. Navigation and structural information is used to register the data from each new capture point relative to the partial model. The user interface is a web browser with a radio link to the AEST. Results can be viewed in a VRML window as they are obtained. The AEST has been developed in EU-ACTS project RESOLV.