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We present a method for reconstruction of structured scenes from one or more views, in which the user provides image points and geometric knowledge-coplanarity, ratios of distances, angles-about the corresponding 3D points. First, the geometric information is analyzed. Then vanishing points are estimated, from which camera calibration is obtained. Finally,(More)
We present a method for solving the first location problem using 2D laser and vision. Our observation is a two-dimensional laser scan together with its corresponding image. The observation is segmented into textured vertical planes; each vertical plane contains geometrical information about its location given by the laser scan, plus the gray level image(More)
This paper considers the problem of 3D reconstruction from 2D points in one or more images and auxiliary information about the corresponding 3D features : alignments, coplanarities, ratios of lengths or symmetries are known. Our first contribution is a necessary and sufficient criterion that indicates whether a dataset, or subsets thereof, defines a rigid(More)
— We describe a method for automatically generating accurate piecewise planar models of indoor scenes using a combination of a 2D laser scanner and a camera on a mobile platform. The method exploits the complementarity of the sensors. Mapping techniques applied to 2D laser scans simultaneously compute a map and the location of the sensor in the unknown(More)
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