3D map building is a complex robotics task which needs mathematical robust models. From a 3D point cloud, we can use the normal vectors to these points to do feature extraction. In this paper, we will present a robust method for normal estimation and unconstrained 3D-mesh generation from a not-uniformly distributed point cloud.

This paper presents a class of minimal solutions for the 3D-to-3D registration problem in which the sensor data are 3D points and the corresponding object data are 3D planes. In order to compare the 6 degrees-of-freedom transformation between the sensor and the object, we need at least six points on three or more planes. We systematically investigate and develop pose estimation algorithms for s...

In this paper, we compare the results of five 3D interest point detection techniques to the interest points marked by human subjects. This comparison is used to quantitatively evaluate the interest point detection algorithms. We asked human subjects to look at a number of 3D models, and mark interest points on the models via a web-based interface. We propose a voting-based method to construct g...

We have developed a 3D positioning system and have applied it to undulation measurement on the green during the construction of a golf course. This positioning system can quickly and precisely position and control mobile objects. It is particularly suitable for positioning construction robots over a wide area. This paper describes the fundamental structure of the 3D positioning system , the pro...

A web-based system based on the 3DTown project was proposed using Google Earth plug-in that brings information from indoor positioning devices and real-time sensors into an integrated 3D indoor and outdoor virtual world to visualize the dynamics of urban life within the 3D context of a city. We addressed limitation of the 3DTown project with particular emphasis on video surveillance camera used...

This paper presents two di erent algorithms for reconstructing 3D points from two sets of noisy 2D image points without knowing point correspondences given the corresponding poses from the two images. We rst present a new way to form a 2D similarity function between two points from two images via 3D pseudo-intersection. Based on principles of proximity and exclusion, the rst algorithm uses a ne...

Depth perception is one of important abilities of the human visual system to perceive the three dimensional world. Shadow technique that offers different depth information from different viewing points, known as Da Vinci stereopsis, has been used in classical paintings. In this paper, we report a method towards measuring the relative depth information stimulated by Da Vinci stereopsis in a clas...