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Close-range imaging, long-range vision

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fullscreen: Close-range imaging, long-range vision

Monograph

Persistent identifier:: 1067858350

Title:: Close-range imaging, long-range vision

Sub title:: proceedings of the ISPRS Commission V symposium : September 2 - 6, 2002, Corfu, Greece

Scope:: 1 Online-Ressource (xii, 621 Seiten)

Year of publication:: 2002

Place of publication:: Thessaloniki

Publisher of the original:: Publ. ZITI

Identifier (digital):: 1067858350

Illustration:: Illustrationen

Signature of the source:: ZS 312(34,5)

Language:: English

Additional Notes:: Erscheinungsdatum des Originals ist aus dem Copyrightjahr ermittelt.

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Corporations:: Symposium Close-Range Imaging, Long-Rang Vision, 2002, Kerkira; International Society for Photogrammetry and Remote Sensing, Technical Commission Close Range Techniques and Machine Vision; Technikon Epimeltrion ts Hellados (Griechische Kammer der Technik)

Adapter:: Symposium Close-Range Imaging, Long-Rang Vision, 2002, Kerkira; International Society for Photogrammetry and Remote Sensing, Technical Commission Close Range Techniques and Machine Vision; Technikon Epimeltrion ts Hellados (Griechische Kammer der Technik)

Founder of work:: Symposium Close-Range Imaging, Long-Rang Vision, 2002, Kerkira; International Society for Photogrammetry and Remote Sensing, Technical Commission Close Range Techniques and Machine Vision; Technikon Epimeltrion ts Hellados (Griechische Kammer der Technik)

Other corporate:: Symposium Close-Range Imaging, Long-Rang Vision, 2002, Kerkira; International Society for Photogrammetry and Remote Sensing, Technical Commission Close Range Techniques and Machine Vision; Technikon Epimeltrion ts Hellados (Griechische Kammer der Technik)

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2019

Document type:: Monograph

Collection:: Earth sciences

Chapter

Title:: WGV/1: Automation for Vision Metrology Systems and Industrial Applications

Document type:: Monograph

Structure type:: Chapter

Chapter

Title:: SEMI AUTOMATIC REGISTRATION OF LASER SCANNER DATA S. T. Dijkman, F. A. van den Heuvel

Document type:: Monograph

Structure type:: Chapter

Close-range imaging, long-range vision
Cover
ColorChart
Title page
ISPRS Council 2000 - 2004
ISPRS Commission V Symposium: CLOSE-RANGE IMAGING, LONG-RANGE VISION
President's Invitation
Contents
WGV/1: Automation for Vision Metrology Systems and Industrial Applications
SOFTWARE DEVELOPMENT FOR REMOTE CONTROL OF DIGITAL METRIC CAMERAS VIA LAN AND INTERNET Ingo Bock, Guenter Pomaska
IMPROVING THE ROBUSTNESS OF LEAST SQUARES TEMPLATE MATCHING WITH A LINE-SEARCH ALGORITHM Niclas Börlin
SEMI AUTOMATIC REGISTRATION OF LASER SCANNER DATA S. T. Dijkman, F. A. van den Heuvel
DESIGN AND IMPLEMENTATION OF A PHOTOGRAMMETRIC SYSTEM FOR CLOSE RANGE INDUSTRIAL APPLICATIONS B. Ergün’, M. O. Altan
GEOMETRIC INFORMATION FROM SINGLE UNCALIBRATED IMAGES OF ROADS L. Grammatikopoulos, G. E. Karras, E. Petsa
IMAGE-VARIANT INTERIOR ORIENTATION AND SENSOR MODELLING OF HIGH-QUALITY DIGITAL CAMERAS H. Hastedt, Th. Luhmann, W. Tecklenburg
REAL-TIME PHOTOGRAMMETRIC ALGORITHMS FOR ROBOT CALIBRATION J. Hefele
PERFORMANCE OF CIRCULAR IMAGE BLOCKS IN CLOSE-RANGE PHOTOGRAMMETRY Jussi Heikkinen
PHOTOGRAMMETRIC PERFORMANCE EVALUATION OF THE KODAK DCS PRO BACK Ralf Jantos, Thomas Luhmann, Jürgen Peipe, Carl-Thomas Schneider
METHOD FOR ON-LINE CALIBRATION FOR AUTOMOBILE OBSTACLE DETECTION SYSTEM V. A. Knyaz
NEW SYSTEM OF DIGITAL CAMERA CALIBRATION, DC-1000 T. Noma, H. Otani, T. Ito, M. Yamada, N. Kochi
ALGORITHM DEVELOPMENTS FOR AUTOMATED OFF-LINE VISION METROLOGY J. O. Otepka, H. B. Hanley, C. S. Fraser
ACCURACY OF DENSE SURFACE MEASUREMENTS IN AN INTEGRA TED PHOTOGRAMMETRY AND MACHINE VISION FRAMEWORK H. Papadaki
A NEW “DIGITAL FILTER” FOR EXTRACTING CONJUGATE POINTS ON EPIPOLAR STEREO IMAGES P. Patias, V. Tsioukas, L. Sechidis
Automated Point Measurement of Dynamic Skin Membrane Surfaces Utilizing a Dot Projection Photogrammetric Technique Gary Robertson
ENHANCED MULTI-CLUSTER ANM FOR STEREO MATCHING M. Sakamoto, W. Lu, Y. Kosugi
CHARACTERISATION AND TRACKING OF MEMBRANE SURFACES AT NASA LANGLEY RESEARCH CENTER Mark R. Shortis, Stuart Robson, Richard S. Pappa, Thomas W. Jones and William K. Goad
STUDY ON VISUAL TRAVERSE BY LASER SCANNING SENSOR R. Tanaka, H. Yokoyama, H. Chikatsu
AUTOMATIC HIERARCHICAL OBJECT DECOMPOSITION FOR OBJECT RECOGNITION M. Ulrich, A. Baumgartner, C. Steger
COMPARISION OF DIFFERENT SENSOR TYPES AND VALIDATION OF AN APPROACH FOR MULTI SENSOR FUSION A. Wendt, C. Rosing, M. Weisensee
USE OF DLT IN PHOTOGRAMMETRIC METROLOGY Zeroual I. Liazid A.
RECONSTRUCTING TEXTURED CAD MODEL OF URBAN ENVIRONMENT USING VEHICLE-BORNE LASER RANGE SCANNER AND LINE CAMERAS Huijing Zhao, Ryosuke Shibasaki
CAR COLLISION AVOIDANCE SYSTEM BASED ON ORTHOPHOTO TRANSFORMATION S. Yu. Zheltov, A. V. Sybiryakov, O. V. Vygolov
WGV/2 Scene Modelling and Virtual Reality
SINGLE IMAGE AND TOPOLOGY APPROACHES FOR MODELING BUILDINGS O. Al Khalil & P. Grussenmeyer
TOWARDS AUTOMATED SEGMENTATION OF DENSE RANGE SCANS Jan Böhm
SEMI-AUTOMATIC 3D RECONSTRUCTION OF OCCLUDED AND UNMARKED SURFACES FROM WIDELY SEPARATED VIEWS Sabry F. El-Hakim
Dynamic trapezoidal maps for coarse perspective models in indoor scenes Javier Finat, Margarita Gonzalo-Tasis, Maria J. Antolinez Susana Aguilar
Title: A fast self-organized iconic segmentation and grouping based in color Javier Finat, Margarita Gonzalo-Tasis and Alejandro Viloria.
LASER SCANNER APPLICATION ON COMPLEX SHAPES OF ARCHITECTURE. PROFILES EXTRACTION PROCESSING AND 3D MODELLING. Luigi FREGONESE [...] Cristiana ACHILLE [...]
FAST RECOVERY OF IMAGE ORIENTATION USING VIRTUAL URBAN MODELS Charalampos Georgiadis, Anthony Stefanidis, Peggy Agouris
SCENE MODELING BY USING VIDEO CAMERA Tsukasa Hosmura, Tetsuo Ohta
PHOTOREALISTIC OBJECT RECONSTRUCTION USING COLOR IMAGE MATCHING Yasemin Kuzu
FLEXIBLE 3-D MODELLING OF HOSTILE ENVIRONMENTS WITH CONSTRAINED VIEWPOINT AND MULTIPLE UNKNOWNS Christophe Leroux, Philippe Even, Anne Lottin, Rodolphe Gelin, Jean Marc Idasiak, Jean François Boissonneau, Michel Jeanjacques
Bundle Orientation and 3-D Object Reconstruction from Multiple-Station Panoramic Imagery Thomas Luhmann, Werner Tecklenburg
A NEW METHOD TO CREATE A GEOMETRICALLY CORRECTED IMAGE OF A DIGITAL CAMERA Ryuji Matsuoka, Kiyonari Fukue, Kohei Cho, Haruhisa Shimoda, Yoshiaki Matsumae, Kenji Hongo, Naoki Shirai
VIEW SYNTHESIS WITH THE TRIFOCAL TENSOR FROM UNCALIBRATED IMAGERY Helmut Mayer, Wolfram Büchner, Thomas Riegel
MOBILE MAPPING FROM STEREO OMNI-DIRECTIONAL VISION S. Ozawa, I. Miyagawa, K. Wakabayashi, T. Arikawa
A GENERIC 3D MODEL FOR AUTOMATED BUILDING ROOF RECONSTRUCTION S. Scholze, T. Moons, L. Van Gool
CALIBRATION OF AN SEM, USING A NANO POSITIONING TILTING TABLE AND A MICROSCOPIC CALIBRATION PYRAMID Olaf Sinram, Martin Ritter, S. Kleindiek, A. Schertel, H. Hohenberg and J. Albertz
3D OBJECT RECONSTRUCTION IN CLOSE RANGE PHOTOGRAMMETRIC PROBLEMS E. Stylianidis, P. Patias
EXTRACTION OF BUILDING FOOTPRINTS FROM AIRBORNE LASER SCANNER DATA AND ORTHO IMAGE Hiroshi TAKEDA Naoko KURISAKI Wentao CHE
TOWARDS AUTOMATIC RELATIVE ORIENTATION FOR ARCHITECTURAL PHOTOGRAMMETRY Frank A. van den Heuvel
KNOWLEDGE-BASED AUTOMATIC 3D LINE EXTRACTION FROM CLOSE RANGE IMAGES S. Zlatanova and F. A. van den Heuvel
WGV/3 Medical Image Analysis and Human Motion
MEASUREMENT AND MODELING OF HUMAN FACES FROM MULTI IMAGES Nicola D'Apuzzo
REPRESENTING THE HUMAN VASCULAR SYSTEM WITH THE USE OF X-RAY PICTURES Á. Detrekói, K. Fekete, Z. Tóth, O. Alhusain, A. Juhász, I. Stuber, Á. Rakusz
3D Brain Volume and Surface Visualization with CT and MR Images for Diagnosing Abnormal Structures: Integration with Photogrammetric Techniques (EXTENDED SUMMARY) S. Dogan, M. O. Altan
MARKERLESS FULL BODY SHAPE AND MOTION CAPTURE FROM VIDEO SEQUENCES P. Fua, A. Gruen, N. D'Apuzzo, R. Plänkers
SONOGRAPHIC TECHNICAL ASPECTS AND IMAGING FEATURES IN THE EVALUATION OF ACUTE SCROTAL PATHOLOGY IN CHILDREN Katsimba D., Tzouveleki M., Miliou Th., Christopoulos S.
A ROBUST PHOTOGRAMMETRIC SYSTEM FOR WOUND MEASUREMENT A. Malian, F. A. van den Heuvel, A. Azizi
ON THE APPLICATION FOR ROAD STRUCTURE IN DYNAMIC ANALYSIS OF HUMAN MOTION USING HVT SYSTEM T. Odake, H. Chikatsu
A CONCEPT WORK FOR AUGMENTED REALITY VISUALISATION BASED ON A MEDICAL APPLICATION IN LIVER SURGERY Tim Suthau, Marcus Vetter, Peter Hassenpflug, Hans-Peter Meinzer, Olaf Hellwich
ANALYSIS OF TIME-SPACE EFFECT OF WALKING USING ACCELEROMETERS AND GYRO SENSOR SYSTEM Masako Tsuruoka, Yuriko Tsuruoka, Ryosuke Shibasaki, Yoshifumi Yasuoka, Shunji Murai
WGV/4 Image Analysis and Spatial Information Systems for Applications in Cultural Heritage
NEW FRONTIERS TO ARCHITECTURAL SURVEY: LASER SCANNER 3D Prof. L. Andreozzi, L. Barnobi, A. Giuffrida, C. Santagati
DIGITAL ORTOPHOTO OF SAN MARCO’S BASILICA IN VENICE G. Auditore, D. Miniutti, L. Pilot
THE PROMOTION OF CULTURAL HERITAGE THROUGH INTERNET USING ADVANCED AUDIO-VISUAL INFORMATION: THE VENETIAN CASTLES OF PELOPONNISOS E. Bakourou, V. Tsioukas, I. Katzougraki, E. Stylianidis, K. Papadimitriou, P. Patias
LASER APPLICATIONS FOR 3D SURVEY OF CULTURAL HERITAGE C. Balletti, F. Guerra
GIS DESIGN USING HIGH GEOMETRIC RESOLUTION SATELLITE IMAGES AND HYPERSPECTRAL AIRBORNE DATA P. Boccardo, F. Giulio Tomolo, A. Spanò
AUTOMATIC REGISTRATION OF 3-D VIEWS R. Bologna, A. Guarnieri, M. Minchilli, A. Vettore
HIGH RESOLUTION DIGITAL IMAGE ORIENTATION USING LASER SCANNER DATA Leandro Bornaz, Andrea Lingua, Fulvio Rinaudo
WEB ARCHAEOLOGICAL DATA MANAGEMENT SYSTEM FROM UNDERWATER PHOTOGRAMMETRY. AN APPLICATION ON TWO ROMAN WRECKS Marco Canciani, Pamela Gambogi, Pierre Drap
SURVEYING METHODS OF ARCHITECTURAL HERITAGE FOR A GIS IMPLEMENTATION M. Caprioli, R. Bologna, A. Scognamiglio
PERFORMANCE EVALUATION OF RECENT HIGH RESOLUTION AMATEUR CAMERAS AND APPLICATION TO MODELING OF HISTORICAL STRUCTURE Hirofumi Chikatsu, Yoichi Kunii
UNDERWATER PHOTOGRAMMETRY AND XML BASED DOCUMENTATION SYSTEM: The case of the 'Grand Ribaud F' Etruscan wreck Pierre Drap, Emmanuel Bruno, Luc Long, Anne Durand, Pierre Grussenmeyer
‘ARPENTEUR’ AS WEB BASED PHOTOGRAMMETRIC PACKAGE: TOWARDS INTEROPERABILITY THROUGH A XML STRUCTURE FOR PHOTOGRAMMETRIC DATA Pierre Drap, Pierre Grussenmeyer, Gilles Gaillard
USING 3D GIS FOR DOCUMENTATION OF HISTORICAL MONUMENT Zaide DURAN & Gönül TOZ
NON-METRIC BIRD'S EYE VIEW Prof. A. Georgopoulos, M. Modatsos
RECONSTRUCTION OF THE GREAT BUDDHA OF BAMIYAN, AFGHANISTAN A. Gruen, F. Remondino, L. Zhang
URBAN CONSERVATION STUDY BASED ON COMPUTER AIDED DESIGN TECHNIQUES:A CASE OF ZEYREK/ISTANBUL N. Zeren Gülersoy, T. K. Koramaz
DIGITAL PHOTOGRAMMETRY FOR THE ON SITE DOCUMENTATION OF THE OASIS OF SIRWAH IN THE REPUBLIC OF YEMEN J. Heckes, A. Hornschuch, U. Kapp, N. Röring
COMBINATION OF PHOTOGRAMMETRY AND EASY-TO-USE NON-METRIC METHODS FOR THE DOCUMENTATION OF ARCHAEOLOGICAL EXCAVATIONS Guido HEINZ
RECONSTRUCTION OF ANCIENT OLYMPIA IN 3D COMPUTER GRAPHICS A Landscape Analysis of Classical Site Juko ITO, Kohei IWABUCHI
THE DIGITAL DATABASE IN ARCHAEOLOGY Paul F. Jacobs
DOCUMENTATION AND VISUALIZATION OF HISTORICAL CITY CENTERS: A MULTI-SENSOR APPROACH FOR A NEW TECHNOLOGICAL PARADIGM P. Patias, G. Karapostolou, P. Simeonidis
GEOMETRIC CALIBRATION OF A VISIBLE-NIR VIDEO CAMERA J. L. Lerma, L. A. Ruiz, F. Buchón, R. Pons, M. Galindez
Application of Computer Technic in the Reconstruct of Chinese Ancient Buildings Deren Li, Yixuan Zhu, Jie Yang, Fuling Bian
VIRTUALISATION OF AN ARCHAEOLOGICAL SITE E. S. Malinverni, G. Gagliardini, G. Fangi
THEORETICAL AND PRACTICAL ASPECTS OF ARCHAEOLOGICAL ORTHOIMAGING D. Mavromati, E. Petsa, G. E. Karras
New Perspectives for Environmental Archaeological GIS Yoshito MIYATSUKA
3D MODELS GENERATION FROM LASER SCANNER DATA TO SUPPORT DIGITAL ORTHOPHOTO 3D: The mosaic surface of the floor of S. Marcus Basilica in Venice. Carlo MONTI [...] Raffaella BRUMANA [...] Luigi FREGONESE [...] Carlo SAVI [...] Christiana ACHILLE [...]
Experimentation of a georeferencing methodology for the Cultural Heritage of Lombardia (Italy) Carlo MONTI [...] Raffaella BRUMANA [...] Carlo SAVI [...] Luigi FREGONESE [...] Christiana ACHILLE [...] Giada MONTI [...] Caterina BALLETTI [...] Giovanni AUDITORE [...]
DIGITAL INFORMATION UTILIZATION ON PRESERVATION MANAGEMENT OF CULTURAL PROPERTIES Syozo NISHIMURA, Sunaryo SUMITRO
IMAGE COMBINATION INTO LARGE VIRTUAL IMAGES FOR FAST 3D MODELLING OF ARCHAEOLOGICAL SITES Maria Pateraki, Emmanuel Baltsavias, Petros Patias
SATELLITES IMAGES OF VERY HIGH RESOLUTION ON THE STUDY OF MONUMENTS AND HISTORICAL CENTERS AND THEIR WIDE SURROUNDINGS Patmios E, Lazaridou M.
RECONSTRUCTION OF THE ROMAN WAREHOUSES IN ANCONA HARBOUR Fausto Pugnaloni and Roberto Papa
A SOLUTION FOR IMAGE ORIENTATION OF CLOSE RANGE BLOCKS M. Scaioni, G. Forlani
MAPPING EXCAVATIONS AND ARCHAEOLOGICAL SITES USING CLOSE RANGE PHOTOS K. Tokmakidis, D. Scarlatos
FITTING, PORTAYAL AND MAPPING FOR THE PRODUCTION OF 2nd ORDER SURFACES PHOTOMOSAICS Artemis Valanis
DOCUMENTATION of HISTORICAL SITES by COMBINING MODERN PHOTOGRAMMETRIC and LASER TECHNOLOGY E. Vozikis, C. Boletis, J. Petrogonas
POTENTIAL OF GIS FOR ENVIRONMENTAL ARCHAEOLOGY: A CASE STUDY IN AICHI, JAPAN- Nobuya Watanabe, [...] Hiroyuki Yoshida, [...]
CHALLENGES AND SOLUTIONS ON THE GENERATION OF DIGITAL SURFACE MODELS OF FACADES USING IMAGE PROCESSING TECHNIQUES Albert Wiedemann
REFIND ORTHO IMAGING AND MODELLING OF RELICS USING HIGH RESOLUTION AMATEUR CAMERA Hiroshi YOKOYAMA, Hirofumi CHIKATSU
WGV/5 Quick Response and Distributed Computing for Close-Range Applications
AUTOMATED APPEARANCE-BASED BUILDING DETECTION IN TERRESTRIAL IMAGES Jan Böhm, Norbert Haala, Peter Kapusy
INVARIANT REPRESENTATIONS FOR PUNCTUAL AND LOCAL GROUPING CRITERIA IN GEOGRAPHIC INFORMATION SYSTEMS Isidro de Paz, Javier Finat and Margarita Gonzalo-Tasis
AUTOMATIC CITY MODELLING BY ROBUST LINE MATCHING USING HIGH VISION AIR-BORNE IMAGERY Y. Kunii, H. Chikatsu
A NEW ALGORITHM FOR IMAGE RETRIEVAL FROM IMAGE SEQUENCE Hongchao Ma, Deren Li
WET LAND AND SALT CRUST FORMATION BASED ON LANDSAT TM DATA Alavi Panah, S.K.
SUMMARIZING THE CONTENT OF MOTION IMAGERY DATASETS Anthony Stefanidis, Peggy Agouris, Panos Partsinevelos
OPTIMIZING POINT NETWORKS FOR CLOSE-RANGE PHOTOGRAMMETRY: FIRST TEST RESULTS E. Tung, J. Friedrich, F. Karsli, E. Ayhan
WGV/6 Visualization and Animation
THE WELL PROMISING FLASHPIX IMAGE FORMAT O. Georgoula, P. Patias
THE MEDIEVAL FORTRESS KUFSTEIN, AUSTRIA - AN EXAMPLE FOR THE RESTITUTION AND VISUALIZATION OF CULTURAL HERITAGE Klaus Hanke, Michael Oberschneider
ANALYSIS OF DIFFERENT CALIBRATION MODELS FOR SEE-THROUGH HEAD-MOUNTED DISPLAYS USED FOR AUGMENTED REALITY APPLICATIONS Johannes Leebmann
COMPUTER AIDED MAKING UP FOR HUMAN FACE USING GEO-SIMULATOR Shunji MURAI, Akira TSUTUMI, Masanobu KOBAYASHI, Yousuke SEKI
ON DEVELOPMENT OF MANAGEMENT AND PLAN SYSTEM FOR MAP PRODUCTION Kazuya NAKANO, Kosuke TSURU
LASER SCANNING AND VISUALISATION OF AN AUSTRALIAN ICON: NED KELLY'S ARMOUR Cliff Ogleby
3D-VISUALIZATION TECHNIQUES - THE COMPLETE LIST - W. Schuhr, E. Kanngieser
A NEW PERSPECTIVE FOR THE VISUALIZATION OF CARTOGRAPHIC DATA V. Tsioukas, K. Papadopoulos, M. Daniil, E. Daniil
ICWG V/III Image Sequence Analysis
DEVELOPMENT OF TECHNIQUES FOR VEHICLE MANOEUVRES RECOGNITION WITH SEQUENTIAL IMAGES FROM HIGH ALTITUDE PLATFORMS T. Fuse, E. Shimizu, R. Maeda
CONSTRUCTION OF CITY MODEL BY MOTION Yousuke Kashimoto, Heitoh Zen
METHOD OF THE CURRENT PITCH ANGLE VALUE CALCULATION ON THE BASIS OF PASSIVE SENSORS DATA PROCESSING IN INTELLIGENT DRIVING SYSTEMS V. M. Lisitsyn, K. V. Obrosov, A. A. Spiridonov, S. V. Tikhonova
VIDEO-TO-3D Marc Pollefeys, Luc Van Gool, Maarten Vergauwen, Kurt Cornelis, Frank Verbiest, Jan Tops
CAMERA CALIBRATION BY ROTATION Petteri Pöntinen
IMAGE SEQUENCE ANALYSIS FOR HUMAN BODY RECONSTRUCTION Fabio Remondino
IMAGE SEQUENCE MATCHING FOR THE DETERMINATION OF THREE-DIMENSIONAL WAVE SURFACES F. Santel, C. Heipke, S. Könnecke, H. Wegmann
3D PARTICLE TRACKING VELOCIMETRY BASED ON IMAGE AND OBJECT SPACE INFORMATION J. Willneff
URBAN 3D MAPPING FROM AERIAL IMAGE SEQUENCES Guoqing Zhou
Keywords Index
Authors Index
Cover

Full text

     
   
al " 
UT a UAM ter. 
  
that using zero for all approximate values already lead to 
convergence. Only approximated values are needed for the 
rotation parameters, any approximate value for the translation 
will lead to convergence in case the rotation parameters are 
within the pull in range of the system. Some examples of 
initial values that are sufficient to lead to convergence are 
given in Table 1. 
Table 1. Examples of initial values within the pull in range 
  
  
    
      
  
  
  
   
  
Rotation between scans | Initial values that are within 
around x-, y-, z-axis the pull in range 
0° 0° 30° 
0° 0° 60 0° 0° 15° 
60°, 60° and 60° 36°, 36°, 36° 
30° 30° 30° 
10° 0° 40° 070° 0° 
  
  
  
   
  
Table 2. Differences between user-defined transformation and 
transformations found by the algorithm 
X Z 
0.0? -30° 
    
  
   
Rotation (user defined) 
      
  
Rotation (algorithm) 0.17° -29.5° 
Difference 0:179 0.5° 
Translation (user defined) in mm -1000 0 
  
  
Translation (algorithm) in mm -1024.2 | 14.3 
Difference in mm 13.9 -24.2 14.3 
Test 2 
Rotation (user defined) 77.79 164° -39.6? 
Rotation (algorithm) 6.4? -39.7? 
Difference 0.1? 0.0? -0.1° 
Translation (user defined) in mm 20000 [30000 
Translation (algorithm) in mm 
20049 |29963 
Difference in mm 49 -37 
  
   
  
    
  
  
  
  
  
  
  
  
   
    
  
  
  
  
  
  
    
  
  
  
  
  
  
   
The differences in the transformation parameters found by the 
algorithm and defined by the user (Table 2) stem from two 
facts. First the laser points are noisy, which results in finding 
different parameters for an object in case they are estimated 
from different data sets. Secondly the surfaces measured were 
assumed to be planar. In reality this might not be the case 
resulting in different solutions of the plane parameters in case 
different parts of the object have been measured in different 
scans. 
To test the validity of the registration algorithm tests were 
conducted using a perfect measurement strategy. This was 
achieved by first measuring objects in one scan followed by 
measuring the same objects based on exactly the same noisy 
points in the second scan. This strategy resulted in exactly the 
parameters used to create the scans. 
  
Figure 8. Scan 1 and 2 after registration 
5. CONCLUDING REMARKS 
A method that integrates modelling and registration has been 
proposed. Using this method the registration of images can be 
incorporated relatively easy. Drawback of this method is that 
objects need to be available in the scene that can easily be 
parameterised. The method will be used to model industrial 
sites where there is not a lack of well-defined shapes. When 
performing the registration, only very rough rotation 
parameters can be used. Convergence of the system is 
independent of the initial values for the translations. 
The method entirely depends on a human operator. Future 
research will focus on automation of the modelling and 
registration. 
REFERENCES 
Besl, P.J. and McKay, N.D., 1992. 4 method for registration 
of 3-D shapes. IEEE Transactions on Pattern Analysis and 
Machine Intelligence, Vol. 14, no 2, pp 239-256. 
Chen, Y. Medioni, G., 1992. Object modelling by 
registration of multiple range images. Image and Vision 
Computing, Vol. 10, no 3, pp 145-155. 
Dorai, €. Weng, J. and Jain, AK, 1997. Optimal 
registration of object views using range data. IEEE 
Transactions on Pattern Analysis and Machine Intelligence, 
19(10):pp 1131-1138. 
Eggert, D.W., Fitzgibbon, A.W., and Fisher. R.B., 1998. 
Simultaneous registration of multiple range views for use in 
reverse engineering of cad models. Computer Vision and 
Image Understanding, 69(3). Dp. 253—272. 
Ermes, P., 2000. Constrains in CAD Models for reverse 
Engineering using Photogrammetry. Proceedings of the 
XIXth congress of ISPRS, Amsterdam 2000,"International 
Archives of Photogrammetry and Remote Sensing", vol 
XXXIII, part B 5/1, commission V, pp 215-221. 
van den Heuvel, F.A. 1999. 4 Line-photogrammetric 
mathematical model for the reconstruction of polyhedral 
objects. Videometrics VI, Sabry F. El-Hakim (ed.), 
Proceedings of SPIE, Vol.3641, pp.60-71. 
Kunmar, R. and Hanson, A.R., 1994, Robust methods for 
estimating pose and a sensivity analysis. Computer Vision 
Graphics and Image Processing, 60(3), pp 313-342. 
Phong, T.Q., Horaud, Yassine, R. A., and Tao, P.D., 1995. 
Object pose from 2-d to 3-d point and line correspondences. 
International Journal of Computer Vision, 15, pp 225-243 
Shih, T..-Y., 1990. The Duality and critical Condition in the 
Formulation and Decomposition of a Rotation Matrix. 
Photogrammetric Engineering and Remote Sensing ASPRS, 
VI. 56, no 8, pp 1173-1179. 
Stamos, I. and Alien, P.K., 2001. Integration of Range and 
Image Sensing for Photorealistic 3D Modeling. Proceedings 
of the 2000 IEEE International Conference on Robotics & 
Automation, San Fransisco, pp 1435-1440. 
Zhang, Z., 1994. Iterative Point matching for registration of 
free-form curves and Surfaces. International Journal of 
Computer Vision, 13(2), pp 119-152.

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