Segmentation through Variable-Order Surface Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Iterative pose estimation using coplanar feature points
Computer Vision and Image Understanding
Polynomial-Time Geometric Matching for Object Recognition
International Journal of Computer Vision
Statistical Approaches to Feature-Based Object Recognition
International Journal of Computer Vision
Matching 3-D Models to 2-D Images
International Journal of Computer Vision
Object Pose: The Link between Weak Perspective,Paraperspective, and Full Perspective
International Journal of Computer Vision
Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Feature-based object recognition and localization in 3D-space, using a single video image
Computer Vision and Image Understanding
Iterative pose computation from line correspondences
Computer Vision and Image Understanding
Solution of the simultaneous pose and correspondence problem using Gaussian error model
Computer Vision and Image Understanding
Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Segmentation of Primitives from Range Data in the Presence of Geometric Degeneracy
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Edge-Region-Based Segmentation of Range Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometry and texture recovery of scenes of large scale
Computer Vision and Image Understanding
A Stratified Approach to Metric Self-Calibration
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Acquisition and Visualization of Colored 3D Objects
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
Euclidean Reconstruction from Constant Intrinsic Parameters
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Constructing 3D City Models by Merging Aerial and Ground Views
IEEE Computer Graphics and Applications
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Matching Widely Separated Views Based on Affine Invariant Regions
International Journal of Computer Vision
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A Shadow Based Method for Image to Model Registration
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 11 - Volume 11
Semi-Automatic Range to Range Registration: A Feature-Based Method
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Automatic 3D to 2D Registration for the Photorealistic Rendering of Urban Scenes
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Alignment of Continuous Video onto 3D Point Clouds
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiview Geometry for Texture Mapping 2D Images Onto 3D Range Data
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Range Image Registration Based on Circular Features
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Automated registration of two-dimensional images with three-dimensional range data in a photorealistic modeling system of urban scenes
Range segmentation and registration for three-dimensional modeling of large scale urban scenes
Range segmentation and registration for three-dimensional modeling of large scale urban scenes
Digital anastylosis of the Octagon in Ephesos
Journal on Computing and Cultural Heritage (JOCCH)
Multi-view scans alignment for 3D spherical mosaicing in large-scale unstructured environments
Computer Vision and Image Understanding
Reality-based 3D modeling, segmentation and web-based visualization
EuroMed'10 Proceedings of the Third international conference on Digital heritage
Computer Vision and Image Understanding
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
A systematic approach for 2D-image to 3D-range registration in urban environments
Computer Vision and Image Understanding
Sorting unorganized photo sets for urban reconstruction
Graphical Models
ICCSA'10 Proceedings of the 2010 international conference on Computational Science and Its Applications - Volume Part I
International Journal of Robotics Research
Fast and robust semi-automatic registration of photographs to 3D geometry
VAST'11 Proceedings of the 12th International conference on Virtual Reality, Archaeology and Cultural Heritage
International Journal of Computer Vision
Fully Automatic Registration of Image Sets on Approximate Geometry
International Journal of Computer Vision
Probabilistic voxel mapping using an adaptive confidence measure of stereo matching
Intelligent Service Robotics
Robotics and Autonomous Systems
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The photorealistic modeling of large-scale scenes, such as urban structures, requires a fusion of range sensing technology and traditional digital photography. This paper presents a system that integrates automated 3D-to-3D and 2D-to-3D registration techniques, with multiview geometry for the photorealistic modeling of urban scenes. The 3D range scans are registered using our automated 3D-to-3D registration method that matches 3D features (linear or circular) in the range images. A subset of the 2D photographs are then aligned with the 3D model using our automated 2D-to-3D registration algorithm that matches linear features between the range scans and the photographs. Finally, the 2D photographs are used to generate a second 3D model of the scene that consists of a sparse 3D point cloud, produced by applying a multiview geometry (structure-from-motion) algorithm directly on a sequence of 2D photographs. The last part of this paper introduces a novel algorithm for automatically recovering the rotation, scale, and translation that best aligns the dense and sparse models. This alignment is necessary to enable the photographs to be optimally texture mapped onto the dense model. The contribution of this work is that it merges the benefits of multiview geometry with automated registration of 3D range scans to produce photorealistic models with minimal human interaction. We present results from experiments in large-scale urban scenes.