Synchronizing 3D point cloud from 3D scene flow estimation with 3D Lidar and RGB camera

We present a method for synchronizing three-dimensional (3D) point cloud from 3D scene with estimation using a 3D Lidar and an RGB camera. These 3D points sensed by the 3D Lidar are not captured at the same time, which makes it difficult to measure the correct shape of the object in a dynamic scene. In our method, we generate synchronized 3D points at arbitrary times using linear interpolation in four-dimensional space, time and space. For interpolating the 3D point, we obtain corresponding 3D point matching with the pixel value captured by the RGB camera in a continuous frame. The experimental results demonstrate the effectiveness of the presented method by depicting a synchronized 3D point cloud that is correctly shaped.