Robust and adaptive merge of multiple range images with photometric attribute

In the use of the three-dimensional data obtained from a stereo system, laser range finder, and other equipment, merge processing is important. This paper proposes a new merge method for range images, based on the volume-based technique. In the proposed method, in contrast to the conventional method, the voxels are adaptively segmented according to the curvature of the surface shape to be reconstructed. This helps to represent the geometrical shape efficiently, effectively utilizing the computation resources. In the framework of the proposed merge process, additional features such as color and the laser reflectivity can be added to the three-dimensional geometrical information, which helps to maintain sharp edges in the texture and to perform rendering and the texture mapping effectively. By examining the consensus for both the geometrical shape and the color in the whole framework, the merge is made robust to noise. In this paper, the system is described first, and then the results of application to several kinds of actual data are presented. © 2007 Wiley Periodicals, Inc. Electron Comm Jpn Pt 3, 90(11): 50–60, 2007; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecjc.20353