A computer-assisted range image registration system for nuclear waste cleanup

Building a 3D computer-based representation of a large or complex scene from a set of range images requires assembling the range images so that they are spatially registered. This paper presents a technique for finding a homogeneous transformation between a pair of range images while making use of both range and intensity information obtained using a laser range scanner. A demonstrated application featuring this technique consists of building a 3D representation of a nuclear dumpsite, which then serves to help control a teleoperated nuclear waste remediation system.