Incremental multiview integration of range images

This paper presents a new method for the incremental integration of overlapped range images. It is assumed that frame transformations between all pairs of views can be reliably computed. This method progressively merges each new sensed range image with the current reconstructed model. The proposed method consists of three stages. In the first stage the overlapped regions are identified. Then, from the overlapped regions, the points that define the integration boundaries are projected over a reference plane and are triangulated over that 2D space by means of a constrained Delaunay algorithm. Finally, the obtained triangulation is back projected to the 3D range image space. These new triangular meshes represent the sewing between the meshes to be integrated. In this way a new single triangular mesh which will be used to merge with futures range images is generated. Experimental results are presented.