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Proceedings Paper

3D scene modeling from multiple range views
Author(s): Vitor Sequeira; Joao G. M. Goncalves; M. Isabel Ribeiro
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Paper Abstract

This paper presents a new 3D scene analysis system that automatically reconstructs the 3D geometric model of real-world scenes from multiple range images acquired by a laser range finder on board of a mobile robot. The reconstruction is achieved through an integrated procedure including range data acquisition, geometrical feature extraction, registration, and integration of multiple views. Different descriptions of the final 3D scene model are obtained: a polygonal triangular mesh, a surface description in terms of planar and biquadratics surfaces, and a 3D boundary representation. Relevant experimental results from the complete 3D scene modeling are presented. Direct applications of this technique include 3D reconstruction and/or update of architectual or industrial plans into a CAD model, design verification of buildings, navigation of autonomous robots, and input to virtual reality systems.

Paper Details

Date Published: 13 September 1995
PDF: 14 pages
Proc. SPIE 2598, Videometrics IV, (13 September 1995); doi: 10.1117/12.220894
Show Author Affiliations
Vitor Sequeira, European Commission/Joint Research Ctr. (Italy)
Joao G. M. Goncalves, European Commission/Joint Research Ctr. (Italy)
M. Isabel Ribeiro, Institute for Systems and Robotics and Instituto Superior Tecnico (Portugal)


Published in SPIE Proceedings Vol. 2598:
Videometrics IV
Sabry F. El-Hakim, Editor(s)

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