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http://dx.doi.org/10.9717/kmms.2021.24.11.1518

Point Cloud Generation Method Based on Lidar and Stereo Camera for Creating Virtual Space  

Lim, Yo Han (School of Computer Science & Electrical Engineering, Handong Global University)
Jeong, In Hyeok (School of Computer Science & Electrical Engineering, Handong Global University)
Lee, San Sung (School of Computer Science & Electrical Engineering, Handong Global University)
Hwang, Sung Soo (School of Computer Science & Electrical Engineering, Handong Global University)
Publication Information
Journal of Korea Multimedia Society / v.24, no.11, 2021 , pp. 1518-1525 More about this Journal
Abstract
Due to the growth of VR industry and rise of digital twin industry, the importance of implementing 3D data same as real space is increasing. However, the fact that it requires expertise personnel and huge amount of time is a problem. In this paper, we propose a system that generates point cloud data with same shape and color as a real space, just by scanning the space. The proposed system integrates 3D geometric information from lidar and color information from stereo camera into one point cloud. Since the number of 3D points generated by lidar is not enough to express a real space with good quality, some of the pixels of 2D image generated by camera are mapped to the correct 3D coordinate to increase the number of points. Additionally, to minimize the capacity, overlapping points are filtered out so that only one point exists in the same 3D coordinates. Finally, 6DoF pose information generated from lidar point cloud is replaced with the one generated from camera image to position the points to a more accurate place. Experimental results show that the proposed system easily and quickly generates point clouds very similar to the scanned space.
Keywords
Virtual Space; Virtual Reality; Point Cloud; Lidar; Stereo Camera;
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