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We propose a method for fusing a LIDAR point cloud to camera data in real time, which will also backfill the myriad of data holes LIDAR creates. This is done in a way that also leverages the images features to weight how point clouds are filled. Multithreaded programing and GP-GPU methods allow us to obtain 10 fps with a Velodyne 64E LIDAR completely fused in 360º using a Ladybug panoramic camera...
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