Reconstrucción virtual tridimensional de entornos urbanos complejos

This paper presents a methodology for the generation of three-dimensional models of urban environments. A multi-sensor terrestrial platform composed of a LIDAR, a spherical camera, GPS and IMU systems is used. The data of the sensors are synchronized with the navigation system and georeferenced. The digitalization methodology is focused on 3 main processes. (1) The three-dimensional reconstruction, in which the noise in the 3D data is eliminated and the distortion in the images is reduced. Later, a panoramic image is built. (2) Texturing, the algorithm is described in detail to ensure the least uncertainty in this color extraction process. (3) Mesh generation, the meshing process based on octree’s is described, from the generation of the seed, the tessellation, as well as the elimination of gaps in the meshes. Finally, a quantitative evaluation of our proposal is made and compared with other existing approaches in the state-of-the-art. The results obtained are discussed in detail.