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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.
Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on (Volume:2 )
Date of Conference: 18-20 June 2003