3d arch tokyoWe developed a mobile scanning system called rail sensor for fastly and accurately capturing the 3D range data in a corridor. Our system consists of a laser-line-scan Lidar and a panoramic camera, which are mounted onto a platform moving on rails. While laser scanner works in profiling mode capturing 2D line structures, the panoramic camera captures the panoramic videos. The sensor motion is estimated robustly from the sensor-fused 2D/3D features tracking method, which helps to reconstruct the structures from the 2D scan lines accurately. Read More