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This paper presents a new 3D scene analysis system that automatically reconstructs the 3D model of real-world scene from multiple range images acquired by a laser range finder on board of a mobile robot. The reconstruction is achieved through an integrated procedure including range data acquisition, geometrical feature extraction, planning the next view, registration and integration of multiple views. The system relies only on the acquired data.
Experimental results on real range images are presented in the paper. 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);GONCALVES J G M, JRC Ispra (IT);RIBEIRO M I, Istituto Superior Técnico, Institute for Systems and Robotics, Lisbon (PT)
Bibliographic Reference: Paper presented: 1996 IEEE International Conference on Image Processing (ICIP-96), Lausanne (CH), September 16-19, 1996
Availability: Available from (1) as Paper EN 40048 ORA
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