Abstract

This paper deals with the automated creation of geometric and photometric correct 3-D models of the world. Those models can be used for virtual reality, tele-- presence, digital cinematography and urban planning applications. The combination of range (dense depth estimates) and image sensing (color information) provides data--sets which allow us to create geometrically correct, photorealistic models of high quality. The 3-D models are first built from range data using a volumetric set intersection method previously developed by us. Photometry can be mapped onto these models by registering features from both the 3--D and 2--D data sets. Range data segmentation algorithms have been developed to identify planar regions, determine linear features from planar intersections that can serve as features for registration with 2-D imagery lines, and reduce the overall complexity of the models. Results are shown for building models of large buildings on our campus using real data acquired from m...

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