3D Scene modelling from multiple range views

This paper presents a new 3D scene analysis system that automatically reconstructs the 3D geometric model of realworld scenes 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, registration and integration of multiple views. Different descriptions of the final 3D scene model are obtained: a polygonal triangular mesh, a surface description in terms of planar and biquadratics surfaces and a 3D boundary representation. Relevant experimental results from the complete 3D scene modelling are presented. 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.