<title>3D textured models of indoor scenes from composite range and video images</title>

Abstract

This paper presents a system that creates realistic 3D representations of real indoor environments using laser and video. The principle novelty of the system is in devising an automatic procedure for planning successive positions of the laser device within a building and integrating the data acquired into a coherent overall model. This is achieved as follows: (1) detection of the occlusions present in the range data (normally achieved by analyzing the continuity of the depth map); (2) determination of the set of possible capture points from where occlusions can be resolved, (3) selection of the capture points that optimize a number of criteria (e.g., number of acquisition sessions, practicability of moving to a capture point, better acquisition conditions). To generate realistic models, a spatial camera is used to extract information from the environment; spatial relationships and visual appearance. The spatial camera includes sensors and actuators, in particular a laser range finder and a TV camera, all mounted on a mobile platform. The system is necessarily mobile since resolving occlusions requires the acquisition of spatial data from multiple capture points.