Colorisation et texturation temps r\'eel d'environnements urbains par syst\`eme mobile avec scanner laser et cam\'era fish-eye

TL;DR

This paper introduces a real-time mobile mapping system using laser scanning and fish-eye cameras to generate colored 3D models of urban environments during vehicle movement.

Contribution

It presents a novel real-time mobile mapping system combining laser scanning and fish-eye camera data for urban environment modeling.

Findings

Achieved real-time 3D colored point cloud generation

Developed methods for colorization, triangulation, and texture mapping

System operates effectively during vehicle movement

Abstract

We present here a real time mobile mapping system mounted on a vehicle. The terrestrial acquisition system is based on a geolocation system and two sensors, namely, a laser scanner and a camera with a fish-eye lens. We produce 3D colored points cloud and textured models of the environment. Once the system has been calibrated, the data acquisition and processing are done "on the way". This article mainly presents our methods of colorization of point cloud, triangulation and texture mapping.