In-Situ Interactive Modeling Using a Single-Point Laser Rangefinder Coupled with a New Hybrid Orientation Tracker

International audienceWe present a method for in situ modeling of polygonal scenes, using a laser rangefinder, an IMU and a camera. The main contributions of this work are a well-founded calibration procedure, a new hybrid, driftless orientation tracking method and an easy-to-use interface based on natural interactions