Constructing 3D city models by merging aerial and ground views

We describe an approach to register and merge detailed facade models with a complementary airborne model. The airborne modeling process provides a half-meter resolution model with a birdʹs-eye view of the entire area, containing terrain profile and building tops. The ground-based modeling process results in a detailed model of the building facades. Using the DSM obtained from airborne laser scans, we localize the acquisition vehicle and register the ground-based facades to the airborne model by means of Monte Carlo localization (MCL). We merge the two models with different resolutions to obtain a 3D model.