The CCD camera and the 2D laser range finder are widely used for motion
estimation and 3D reconstruction. With their own strength and weakness, 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 non-linear 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.