3D Modeling from Multiple Views with Integrated Registration and Data Fusion

This paper presents an integrated modeling system capable of generating coloured three dimensional representations of a scene observed from multiple viewpoints. Emphasis is given to the integration of the components and to the algorithms used for acquisition, registration and final surface mapping. First, a sensor operating with structured light is used to acquire 3D and colour data of a scene from multiple views. Second, a frequency-domain based registration algorithm computes the transformation between pairs of views from the raw measurements and without a priori knowledge on the transformation parameters. Finally, the registered views are merged together and refined to create a rich 3D model of the objects. Real world modeling examples are presented and analyzed to validate the operation of the proposed integrated modeling system.

• Type: Conference
• Year: 2009
• Where: CRV
• Authors: Alain Boyer, Phillip Curtis, Pierre Payeur
• Keywords: CRV 2009, Final Surface Mapping, Frequency-domain Based Registration, Integrated Modeling, Robotics