- 64 - 
Acknowledgements 
The authors acknowledge the help of Prof. Ing. Marco Gaiani 
(now at the Politecnico di Milano), late Architect Roberta 
Marchetti, and Architect Francesca Pozzi, who organized the 
survey campaign. Architects Anna Maria Iannucci and Andrea 
Alberti from the Soprintendente per i Beni Architettonici e del 
Paesaggio delle Provincie di Ravenna, Ferrara, Forli-Cesena, 
Rimini are also acknowledged for giving us the opportunity to 
demonstrate our technology in Pomposa. 
References 
Beraldin, J.-A., F. Blais, L. Comouyer., M. Rioux, S.F. El- 
Hakim, R. Rodella, F. Bernier, N. Harrison, 1999. 3D imaging 
system for rapid response on remote sites. IEEE proc. of 2 nd . 
Int. Conf. 3D Digital Imaging and Modeling, pp. 34-43. 
Beraldin, J.-A., Picard, M., El-Hakim, S., Godin, G., Latouche, 
C., Valzano, V., Bandiera, A., 2002. Exploring a Byzantine 
crypt through a high resolution texture mapped 3D model: 
combining range data and photogrammetry. ISPRS/CIPA Int. 
Workshop Scanning for Cultural Heritage Recording - 
Complementing or Replacing Photogrammetry. Corfu, Greece. 
Bemardini, F., Rushmeier, H., Martin, I.M., Mittleman, J., 
Taubin, G., 2002. Building a digital model of Michelangelo's 
Florentine Pieta. IEEE Computer Graphics and Applications, 
22(1), pp.59-67. 
Besl, P.J., McKay, N.D., 1992. A method for registration of 3-d 
shapes. IEEE Transaction PAMI, 14(2), pp. 239-256. 
Besl, P.J., 1988. Active, optical range imaging sensors. 
Machine Vision and Applications, 1(2), pp. 127-152. 
Curless, B., Levoy, M., 1996. A volumetric method for building 
complex models from range images. Proc. SIGGRAPH ‘96, pp. 
303-312. 
Debevec, P., C.J. Taylor, J. Malik, 1996. Modeling and 
rendering architecture from photographs: A hybrid geometry 
and image-based approach. SIGGRAPH’96, pp. 11-20. 
Liebowitz, D., A. Criminisi, A. Zisserman, A., 1999. Creating 
Architectural Models from Images. EUROGRAPHICS ’99, 
18(3). 
Dick, A.R., P.H.Torr, S.J. Ruffle, R.Cipolla, 2001. Combining 
single view recognition and multiple view stereo for 
architectural scenes. Proc. 8th IEEE International Conference 
on Computer Vision (ICCV'01), pp. 268-274, July. 
El-Hakim, S.F., Beraldin, J.-A.. 1995. Configuration analysis 
for sensor integration. Proc. SPIE Vol. 2598. Videometrics IV, 
pp. 274-285. 
El-Hakim, S.F., 2002. Semi-automatic 3d reconstruction of 
occluded and unmarked surfaces from widely separated views. 
Proc. ISPSRS Commission V Symposium, Corfu, Greece, Sept. 
Faugeras, O., L. Robert, S. Laveau, G. Csurka, C. Zeller, C. 
Gauclin, I. Zoghlami, 1998. 3-D reconstruction of urban scenes 
from image sequences. Computer Vision and Image 
Understanding, 69(3), pp 292-309. 
Fitzgibbon, A.W., Zisserman, A., 1998. Automatic camera 
recovery for closed or open image sequences. European Conf. 
On Computer Vision (ECCV’98), vol. 1, pp. 311-326. 
Harris C., M. Stephens, 1998. A combined comer and edge 
detector. Proc. 4th Alvey Vision Conf., pp. 147-151. 
Innovmetric Software Inc., 2002. http://www.innovmetric.com 
Kang, S.B., 1999. Survey of image-based rendering 
techniques. SPIE Vol. 3641, Videometrics VI, pp. 2-16. 
Pollefeys, M., R. Koch, L. Van Gool, 1999. Self-calibration and 
metric reconstmction in spite of varying and unknown intrinsic 
camera parameters. Int. J. of Computer Vision, 32(1), pp. 7-25. 
Rioux, M., Bechthold, G., Taylor, D., Duggan, M., 1987. 
Design of a large depth of view three-dimensional camera for 
robot vision," Optical Engineering, 26(12), pp. 1245-1250. 
Sequeira, V., Wolfart, E., Bovisio, E., Biotti, E., Goncalves, 
J.G., 2001. Hybrid 3D reconstmction and image-based 
rendering techniques for reality modeling. SPIE Vol. 4309, 
Videometrics and Optical Methods for 3D Shape Measurement, 
pp. 126-136. 
Shum, H.Y., R. Szeliski, S. Baker, M. Han, P. Anandan, , 1998. 
Interactive 3D modeling from multiple images using scene 
regularities. Eur. Workshop 3D Structure from Multiple Images 
of Large-scale Environments - SMILE, pp 236-252. 
Soucy, M., Laurendeau, D., 1995. A general surface approach 
to the integration of a set of range views. IEEE Transactions on 
PAMI, 17(4), pp. 344-358. 
Triggs, W., P. McLauchlan, R. Hartley, A. Fitzgibbon, 2000. 
Bundle Adjustment for Structure from Motion, in Vision 
Algorithms: Theory and Practice, Springer-Verlag. 
Tzonis, A., Lefaivre, L., 1986. Classical Architecture - The 
Poetics of Order. MIT Press, Cambridge, MA. 
van den Heuvel, F.A., 1998. 3D reconstmction from a single 
image using geometric constraints. ISPRS Journal 
Photogrammetry & Remote Sensing, 53(6), pp. 354-368. 
Werner, T., Zisserman, A., 2002. New technique for automated 
architectural reconstmction from photographs. Proc. 7 th 
European Conf. Computer Vision, Copenhagen, May. 
Zwillinger, D. (ed.), 1996. Standard Mathematical Tables. 30 ,h 
Edition, CRC Press, Inc., Florida, pp 311-316.