3D MODELLING OF IN-DOOR SCENES USING LASER RANGE SENSING

This paper describes a 3D scene analysis system that is capable of modelling real-world scenes, based on data acquired by a Laser Range Finder on board of a mobile robot. Laser range images directly provide access to three dimensional information, as opposed to intensity images. This characteristic makes range data suited to build 3D models of objects, and in general real world scenes. Results from the complete modelling procedure are presented, starting with the extraction of surface characteristics from range images, approximation of the surface geometry by a 3D triangular surface mesh and the merging of the surface descriptions from different viewpoints into a consistent 3D scene model. Direct applications of this technique include retrieval of architectural andlor industrial plans into a CAD model, design verification of buildings and plants, and update of a CAD model with the real world ("as-built")