Rigid registration of two sets of points sampled from a surface has been widely investigated (e.g., [1], [4]–[6], [9]) in computer vision literature. Generally, these methods are designed to tackle range maps with dense points for non-realtime applications. In [2], [8] scans are matched using iterative closest line (ICL), a variant of “normal-distance” form of ICP algorithm [1] originally propo...

In this paper, I propose a method which applies the fundamental idea and technique of high-dynamic-range (HDR) imaging [5] to depth maps obtained from time-of-flight depth sensors. HDR imaging creates a single high-quality output from a number of photographs in different settings as its input. Similarly, my technique uses a set of depth maps, which are obtained from different settings (i.e. fre...

Localizing a radiant source is a widespread problem to many scientific and technological research areas. E.g. localization based on range measurements stays at the core of technologies like radar, sonar and wireless sensors networks. In this manuscript we study in depth the model for source localization based on range measurements obtained from the source signal, from the point of view of algeb...

The range map registration (or alignment) phase is the main bottleneck in the 3D scanning pipeline due to the amount of user intervention required. The standard approach to registration consists of an initial rough alignment followed by an automatic refining technique (ICP). Automatic registration is an active research area, since it is the missing component to fully automatise the scanning pro...

This paper presents a new approach to the problem of building a global map from laser range data, utilizing shape based object recognition techniques originally developed for tasks in computer vision. In contrast to classical approaches, the perceived environment is represented by polygonal curves (polylines), possibly containing rich shape information yet consisting of a relatively small numbe...

Photonic mixer device (PMD) range cameras are becoming popular as an alternative to algorithmic 3D reconstruction but their main drawbacks are low-resolution (LR) and noise. Recently, some interesting works have stressed on resolution enhancement of PMD range data. These works use high-resolution (HR) CCD images or stereo pairs. But such a system requires complex setup and camera calibration. I...

Recent advances have allowed for the creation of dense, accurate 3D maps of indoor environments using RGB-D cameras. Some techniques are able to create large-scale maps, while others focus on accurate details using GPU-accelerated volumetric representations. In this work we describe patch volumes, a novel multiple-volume representation which enables the creation of globally consistent maps of i...

This paper presents a method for modeling the surface of an object from a sequence of range maps. Our method is based on a volumetric approach that produces a compact surface without boundary. It provides robustness through the use of interval analysis techniques and computational efficiency through hierarchical processing using octrees.

This paper presents a novel robust processing methodology for computing 2.5D thickness maps from dense 3D collocated surfaces. The proposed pipeline is suitable to faithfully adjust data representation detailing as required, from preserving fine surface features to coarse interpretations. The foundations of the proposed technique exploit spatial point-based filtering, ray tracing techniques and...