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This paper describes a 3D scene analysis system that is able to model real-world scenes, based on data acquired by a laser range finder on board a mobile robot. Although this may be possible using intensity images, range images directly provide access to 3D information. Results from the complete modelling procedure are presented, starting with the extraction of surface characteristics from range images, approximation of the surface geometry by a 3D triangular surface mesh, and the merging of the surface descriptions from different viewpoints into a consistent 3D model scene. Direct applications of this technique include retrieval of architectural and/or industrial plans into a CAD model, design verification of buildings and plants, and verification and updating of a CAD model with the real world (as built).

Additional information

Authors: SEQUEIRA V, JRC Ispra (IT);GONÇALVES J G M, JRC Ispra (IT);RIBEIRO M I, Instituto Superior Técnico, Dept. Eng. Electrotécnica e Computadores, Lisboa (PT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: Graphics and Modelling in Science and Technology Workshop, Coimbra (PT), June 27-28, 1994
Availability: Available from (1) as Paper EN 38479 ORA
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