Fusion of intensity and range data for improved 3D models

In this paper, we present techniques combining intensity and range data to achieve more realistic three-dimensional models from real world scenes. The principal novelty is the use of the intensity information not only for texturing the final 3D model but also to improve the segmentation of the range data. The technique registers video and range, i.e., the camera parameters are computed in order to get both data in the same reference frame. Edge extraction techniques are then applied to select corresponding edges and a line-straightening algorithm is used to correct the 3D model. Results are presented for both indoor and outdoor environments