Automated Feature-Based Range Registration of Urban Scenes of Large Scale

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 novel 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.

• Type: Conference
• Year: 2003
• Where: CVPR
• Authors: Ioannis Stamos, Marius Leordeanu
• Keywords: Complex 3D Range, Complex Range Scans, Computer Vision, Correct 3D Models, CVPR 2003, Method Utilizes Range, Scale 3D Models