We are building a system that can automatically acquire 3D range scans and 2D images to build geometrically and photometrically correct 3D models of urban environments. A major bottleneck in the process is the automated registration of a large number of geometrically complex 3D range scans in a common frame of reference. In this paper we provide a method for the accurate and efficient registration of a large number of complex range scans. The method utilizes range segmentation and feature extraction algorithms. Our algorithm automatically computes pairwise registrations between individual scans, builds a topological graph, and places the scans in the same frame of reference. We present results for building large scale 3D models of historic sites and urban structures.


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    Title :

    Automated feature-based range registration of urban scenes of large scale


    Contributors:
    Stamos, I. (author) / Leordeanu, M. (author)


    Publication date :

    2003-01-01


    Size :

    862258 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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