A STEP TOWARDS DYNAMIC SCENE ANALYSIS WITH ACTIVE MULTI-VIEW RANGE IMAGING SYSTEMS

Abstract. Obtaining an appropriate 3D description of the local environment remains a challenging task in photogrammetric research. As terrestrial laser scanners (TLSs) perform a highly accurate, but time-dependent spatial scanning of the local environment, they are only suited for capturing static scenes. In contrast, new types of active sensors provide the possibility of simultaneously capturing range and intensity information by images with a single measurement, and the high frame rate also allows for capturing dynamic scenes. However, due to the limited field of view, one observation is not sufficient to obtain a full scene coverage and therefore, typically, multiple observations are collected from different locations. This can be achieved by either placing several fixed sensors at different known locations or by using a moving sensor. In the latter case, the relation between different observations has to be estimated by using information extracted from the captured data and then, a limited field of view may lead to problems if there are too many moving objects within it. Hence, a moving sensor platform with multiple and coupled sensor devices offers the advantages of an extended field of view which results in a stabilized pose estimation, an improved registration of the recorded point clouds and an improved reconstruction of the scene. In this paper, a new experimental setup for investigating the potentials of such multi-view range imaging systems is presented which consists of a moving cable car equipped with two synchronized range imaging devices. The presented setup allows for monitoring in low altitudes and it is suitable for getting dynamic observations which might arise from moving cars or from moving pedestrians. Relying on both 3D geometry and 2D imagery, a reliable and fully automatic approach for co-registration of captured point cloud data is presented which is essential for a high quality of all subsequent tasks. The approach involves using sparse point clouds as well as a new measure derived from the respective point quality. Additionally, an extension of this approach is presented for detecting special objects and, finally, decoupling sensor and object motion in order to improve the registration process. The results indicate that the proposed setup offers new possibilities for applications such as surveillance, scene reconstruction or scene interpretation.