Multi-scale 3d-modeling

Authors:
Karsten Scheibe;Michael Suppa;Heiko Hirschmüller;Bernhard Strackenbrock;Fay Huang;Rui Liu;Gerd Hirzinger
Affiliations:
German Aerospace Center, Oberpfaffenhofen and Berlin, Germany;German Aerospace Center, Oberpfaffenhofen and Berlin, Germany;German Aerospace Center, Oberpfaffenhofen and Berlin, Germany;Illustrated Architecture, Berlin, Germany;Yi-Lan University, Yi-Lan, Taiwan;German Aerospace Center, Oberpfaffenhofen and Berlin, Germany;German Aerospace Center, Oberpfaffenhofen and Berlin, Germany
Venue:
PSIVT'06 Proceedings of the First Pacific Rim conference on Advances in Image and Video Technology
Year:
2006

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Abstract

This paper reviews 3D-modeling activities at the German DLR Institute of Robotics and Mechatronics, carried out within the last decade in cooperation with partners in Germany (Z+F, Illustrated Architecture, DLR Institutes of Optical Information Systems, and of Planetary Research) and international partners. The main focus is on multisensory (e.g. push-broom or rotating stereo line cameras, laser range finders) information containing (at least) geometry and texture. The paper describes systems which acquire such information at different scales of scenery, ranging from indoor scenes to planetary explorations. It also covers principles and methods for preprocessing, geometric reconstruction, texture mapping, or matching.