Multisensor data fusion technology

as a rising foreland

is applied in many research areas.Fast collection of three-dimensions information is the key technique in three-dimensions real modeling and virtual reality.A moving mobile data fast collection system based on multisensor fusion is brought forward.Many sensors such as CCD camera

laser scanner

GPS and IMU are integrated here to accomplish the three-dimensions data automatic collection task of city road surface

construction and building.Localization and orientation project design and implementation are discussed.Fusing GPS and IMU data through Kalman filter

an optimal estimate of position and attitude of the whole system composed by all sensors can be evaluated.Geographic coordinate and three-dimensions modeling information of city target can be fast acquired.As a result

three-dimensions actual city road surface and street scene are reconstructed.