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This paper presents a new 3D scene analysis system that automatically reconstructs the 3D geometric model of real world scenes from multiple range images acquired by a laser range finder on board a mobile robot. The reconstruction is achieved through an integrated procedure including range data acquisition geometrical feature extraction, reigstration and integration of multiple views. Different descriptions of the final 3D scene model are obtained: a polygonal triangular mesh, a surface description in terms of planar and biquadratic surfaces, and a 3D boundary representation. Relevant experimental results from the complete 3D scene modelling are presented. Direct applications of this technique include 3D reconstruction and/or update of architectural or industrial plans into a CAD model, design verification of buildings, navigation of autonomous robots, and input to virtual reality systems.

Additional information

Authors: SEQUEIRA V, JRC Ispra (IT);GONÇALVES J G M, JRC Ispra (IT);RIBEIRO M I, Instituto Superior Técnico, Lisboa (PT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Philadelphia (US), October 23-26, 1995
Availability: Available from (1) as paper EN 39350 ORA
Record Number: 199511634 / Last updated on: 1995-12-12
Original language: en
Available languages: en