Indoor scene reconstruction from sets of noisy range images

Authors:
R. T. Whitaker;J. Gregor;P. F. Chen
Affiliations:
Department of Electrical Engineering, University of Tennessee, Knoxville, TN;Department of Computer Science, University of Tennessee, Knoxville, TN;Department of Computer Science, University of Tennessee, Knoxville, TN
Venue:
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Year:
1999

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Abstract

This paper describes a system for indoor scene modeling from sets of noisy laser range images. We address several important aspects thereof: preprocessing, which includes image segmentation and planar model fitting: view registration. which is the method of determining the rigid transformation that describes the relative pose of the camera platform between views: and reconstruction, which is the subsequent integration or fusion of separate range images into a single 3D model. We give an empirical analysis, which demonstrates the efficacy of our plane-based registration strategy and results on real data that show the performance of the reconstruction system in its entirely.