Kakiuchi, Tsutomu 
  
5.4 Modeling 
Reconstruction and 3D modeling of indoor space are achieved since the 3D spatial data can be calculated by stereo 
images. Figure 13 shows the textured model of the elevator hall in the Tokyo Denki University, Japan. This texture 
model was achieved by graphic software using panoramic images and wire frame model. Due to the relatively slow 
manual texture mapping, the texture model was not achieved automatically 
  
Figure 13. Textured model of the elevator hall in the Tokyo Denki University, Japan 
5.5 3D Spatial Data Acquisition Procedures 
  
   
  
    
    
   
  
The detail procedures for the 3D spatial data acquisition are as 
follows: 
* Camera calibration for the right and left image is performed " 
using one control point . Stereo Image 
+ Stereo images for the indoor space are acquired rotating the p 
video theodolite, then right and left image are simultaneously C one Correction.) 
taken. | Ortho Projection | à 
* Tone correction is performed for right and left image. 
* Every feature points are extracted on the right image just by 
mouse click. 
* Area based stereo matching is performed for each stereo image. 
* 3D data of the future points is calculated using the calibration 
parameters, the camera rotation angles and the image coordinate 
of each future points. 
* Wire frame model is acquired by perspective projection 
techniques using 3D data. 
+ Panoramic images are automatically obtained using resampling, 
mosaicing and tone correction procedure. : 
+ 3D modeling is achieved by texture mapping using graphic Figure 14. 3D Spatial Data Acquisition 
software. Procedures 
These procedures are shown in Figure 14. 
Camera Calibration 
   
  
  
  
  
Extraction of featur 
mm . Stereo Matching | 
[Texture Mapping Jr 55 vien aremenr | 
Wire frame model | 
     
   
   
   
   
  
420 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000.