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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part Bib. Beijing 2008 
Figure.8 Extracted lines in adjacent images and reconstructed 
3D lines compared with reconstructed 3D points. 
4. CONCLUSION AND EXTENDED WORK 
In this paper, we described robust points matching algorithm 
with RAN SAC estimator, and compared two methods of line 
matching in a complex man-made environment. Through 
comparion, we conclude that, differential evolution is a global 
optimization method and it tolerates complex man-made scene 
which usually has a mass of noise. To represent reconstructed 
model with planes, further work includes clustering 
reconstructed 3D lines into planes and evaluating model 
parameters. 
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