3-D Modeling of Real-World Objects Using Range and Intensity Images

This chapter describes the state-of-the-art techniques for constructing photo-realistic three dimensional models of physical objects using range and intensity images. In general, construction of such models entails four steps: First, a range sensor must be used to acquire the geometric shape of the exterior of the object. Objects of complex shape may require a large number of range images viewed from different directions so that all of the surface detail is captured. The second step in the construction is the registration of the multiple range images, each recorded in its own coordinate frame, into a common coordinate system called the world frame. The third step removes the redundancies of overlapping surfaces by integrating the registered range images into a single connected surface model. In order to provide a photo-realistic visualization, the final step acquires the reflectance property of the object surface, and adds the information to the geometric model.