Ego-Motion Estimation for Efficient City Modeling by Using Epipolar Plane Range Image

Abstract

This paper proposes a novel notion of Epipolar Plane Range Image (EPRI). It can simultaneously represent both spatial characteristic and temporal consistency. Analyzing this image, we can estimate self velocity of the vehicle without any external devices as GPS. Applying this information we can align the position of other scanning data, and can efficiently get correct 3D geometric model of the real urban space, even if the vehicle travels in arbitrary speed.