The CCD camera and the 2D laser range finder are
widely used for motion estimation and 3D reconstruction. With
their own strengths and weaknesses, low-level fusion of these
two sensors complements each other. We combine these two
sensors to perform motion estimation and 3D reconstruction
simultaneously and precisely. We develop a motion estimation
scheme appropriate for this sensor system. In the proposed
method, the motion between two frames is estimated using three
points among the scan data, and refined by nonlinear
optimization. We validate the accuracy of the proposed method
using real images. The results show that the proposed system is
a practical solution for motion estimation as well as for 3D
reconstruction.