An Integrated 4D Vision and Visualisation System.

This paper reports on a pilot system for reconstruction and visualisation of complex spatio-temporal scenes by integrating two different types of data: outdoor 4D data measured by a rotating multi-beam LIDAR sensor, and 4D models of moving actors obtained in a 4D studio. A typical scenario is an outdoor scene with multiple walking pedestrians. The LIDAR monitors the scene from a fixed position and provides a dynamic point cloud. This information is processed to build a 3D model of the environment and detect and track the pedestrians. Each of them is represented by a point cluster and a trajectory. A moving cluster is then substituted by a detailed 4D model created in the studio. The output is a geometrically reconstructed and textured scene with avatars that follow in real time the trajectories of the pedestrians.