Reconstrução tridimensional de ambientes reais usando dados laser e de intensidade

Abstract

This article gives an overview of the results obtained during the PhD studies of the author. The work was developed within a cooperation between the IEETA/University of Aveiro and the Joint Research Centre
in Ispra, Italy. The objective was to generate complete, high-resolution three-dimensional models of real world scenes (3D geometry and texture information) from passive intensity images (typically digital photographs) and active range sensors (such as laser range finders). Depth extraction from intensity images is a complex task. But digital photographs provide additional information about the scenes that can be used to help the 3D modelling process, in particular to define accurate surface boundary conditions. This makes active and passive sensors complementary in many ways and is the fundamental idea that motivates the work presented here.