期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2005
卷号：XXXVI-5/W17
出版社：Copernicus Publications
摘要：This paper describes a 3D modeling method for wide outdoor environments by integrating stop-and-go and continuous scanning of laser rangefinder. First, range images of an outdoor scene are measured by stop-and-go scanning by using omnidirectional laser rangefinder, and the 3D surface model is generated. Next, to recover the parts that are not measured in the stop-and-go scanning mode due to occlusion, we measure the outdoor scene in the continuous scanning mode where the laser rangefinder line-scans the scene under movement is employed. In the continuous scanning mode, the position and orientation of the rangefinder is acquired by a hybrid sensor which consists of GPS (Global Positioning System) and INS (Inertial Navigation System). Finally, multiple range data acquired in two scanning modes are integrated by registering overlapped parts of range data
