Abstract
A method is developed that improves the accuracy of super-resolution range maps over interpolation by fusing actively illuminated HDR camera imagery with LIDAR data in dark subterranean environments. The key approach is shape recovery from estimation of the illumination function and integration in a Markov Random Field (MRF) framework. A virtual reconstruction using data collected from the Bruceton Research Mine is presented.
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Wong, U., Garney, B., Whittaker, W., Whittaker, R. (2010). Camera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_38
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DOI: https://doi.org/10.1007/978-3-642-13408-1_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13407-4
Online ISBN: 978-3-642-13408-1
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