A 3D Reconstruction with High Density and Accuracy using Laser Profiler and Camera Fusion System on a Rover Ryoichi Ishikawa, Menandro Roxas, Yoshihiro Sato, Takeshi Oishi Institute of Industrial Science, The University of Tokyo Komaba, Meguro, Tokyo, Japan {ishikawa, roxas, yoshi, oishi}@cvl.iis.u-tokyo.ac.jp Takeshi Masuda National Institute of Advanced Industrial Science and Technology Kasumigaseki, Chiyoda, Tokyo, Japan t.masuda@aist.go.jp Katsushi Ikeuchi Microsoft Research Asia Danling Street, Haidian District, Beijing, China katsuike@microsoft.com Abstract 3D sensing systems mounted on mobile platform are emerging and have been developed for various applica- tions. In this paper, we propose a profiler scanning sys- tem mounted on a rover to scan and reconstruct a bas-relief with high density and accuracy. Our hardware system con- sists of an omnidirectional camera and a 3D laser scanner. Our method selects good projection points for tracking to estimate motion stably and reject mismatches caused by dif- ference between the positions of laser scanner and camera using an error metric based on the distance from omnidi- rectional camera to scanned point. We demonstrate that our results has better accuracy than comparable approach. In addition to local motion estimation method, we propose global poses refinement method using multi modal 2D-3D registration and our result shows good consistency between reflectance image and 2D RGB image. 1. Introduction 3D digital archiving is a technique that uses 3D scanning systems in creating models of existing real-world objects. It has particularly played an important role in the preserva- tion and restoration of cultural heritage assets. These assets are exposed to the risk of deterioration due to natural and/or man-made causes and preserving their fine shape and struc- ture is of great interest. For example, Fig. 1 (a) shows a bas-relief in a Khmer-style temple which contains a deli- cately fine detail. Moreover, this relief is carved over a very wide area and it is challenging to produce a high density scan of all its parts. (a) (b) (c) Figure 1. (a) A bas-relief in a Khmer-style temple. (b)Proposed scanning sensor system mounted on a rover. (b)Obtained recon- struction result of relief by our method. Traditional modeling methods use stationary laser scan- ner placed in different locations of the scanned object. The obtained data is later aligned and merged. Using these methods on large data is laborious. Alternatively, various scanning systems mounting the laser scanner on a mobile platform can help speed up the scanning process such as LiDAR-only system [26, 31], LiDAR + IMU and GPS sys- 1