Laser range scanner based on self-calibration techniques using coplanarities and metric constraints

Ryo Furukawa, Hiroshi Kawasaki

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


In this paper, we propose a novel method to achieve both dense 3D reconstruction of the scene and estimation of the camera intrinsic parameters by using coplanarities and other constraints (e.g., orthogonalities or parallelisms) derived from relations between planes in the scene and reflected curves of line lasers captured by a single camera. In our study, we categorize coplanarities in the scene into two types: implicit coplanarities, which can be observed as reflected curves of line lasers, and explicit coplanarities, which are, for example, observed as walls of a building. By using both types of coplanarities, we can construct simultaneous equations and can solve them up to four degrees of freedom. To upgrade the solution to the Euclidean space and estimate the camera intrinsic parameters, we can use metric constraints such as orthogonalities of the planes. Such metric constraints are given by, for example, observing the corners of rectangular boxes in the scene, or using special laser projecting device composed of two line lasers whose laser planes are configured to be perpendicular.

Original languageEnglish
Pages (from-to)1118-1129
Number of pages12
JournalComputer Vision and Image Understanding
Issue number11
Publication statusPublished - Nov 2009
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition


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