In: Paparoditis N., Pierrot-Deseilligny M.. Mallet C.. Tournaire O. (Eds). IAPRS. Vol. XXXVIII. Part 3A - Saint-Mandé, France. September 1-3, 2010 
279 
Figure 8. Inpainting techniques, (a) Input images with unknown 
radiometry at occluded areas; (b) Inpainting result using 
interpolation; (c) Inpainting result using patch matching. 
5. EXPERIMENTATION 
5.1 Test data set 
The method has been tested on a small area of an historical 
center. The path is of about 1.1 km long (see Figure 10). 
The input 3D model is derived from aerial geo-referenced 
images, and they have a metric accuracy. The terrestrial mobile 
mapping system is equipped with cameras, lateral laser 
scanners, and a precise geo-referencing system composed of a 
Global Positioning System (GPS), an Inertial Measurement 
Unit (IMU) and an odometer. The data collection was 
performed at a normal speed. The images were captured every 2 
meters. A façade texture generally consists of a mixture of 10 to 
20 overlapping input views (see example of Figure 9). The data 
set consists of about 2300 images with 400 buildings. It is 
completed with a georeferenced laser point cloud describing the 
façades. Laser data collection was continuous along this track. 
All the facades are assumed to be planar. 
Figure 9. Example of input images 
Figure 10. Test Area: building polygons and vehicle track 
5.2 Results 
Texture images have been generated for 46 façades, at a typical 
resolution of 2cm per pixel. Figure 11 shows various examples 
of automatically computed façade textures. Figure 12 shows a 
view of the final textured model, where the texture images were 
automatically snapped to the model. The computing time was 
around 4 minutes per façade on a standard computer dual core 
1.86GHz. 
The images have been rectified and merged into homogeneous 
textures. The luminance is corrected and quite stable. Some 
occluding objects have not been not removed (bins, tables, 
signs) because they are very close to the wall; in this case it is 
better to leave them in the texture rather than using inpainting 
techniques. 
(a) Texture Size : 826 x 916 
# of input images : 18 
(b) Texture Size : 998 x 1016 
# of input images : 20 
(d) Texture Size : 952 x 943 
# of input images : 22 
(c) Texture Size : 871 x 991 
# of input images : 18 
Figure 11. Some resulting facades