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

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2 Author(s)
Stamos, I. ; Dept. of Comput. Sci., City Univ. of New York, NY, USA ; Leordeanu, M.

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.

Published in:

Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on  (Volume:2 )

Date of Conference:

18-20 June 2003