This Article 
 Bibliographic References 
 Add to: 
A General Surface Approach to the Integration of a Set of Range Views
April 1995 (vol. 17 no. 4)
pp. 344-358

Abstract—This paper presents a new and general solution to the problem of range view integration. The integration problem consists in computing a connected surface model from a set of registered range images acquired from different viewpoints. The proposed method does not impose constraints on the topology of the observed surfaces, the position of the viewpoints, or the number of views that can be merged. The integrated surface model is piecewise estimated by a set of triangulations modeling each canonical subset of the Venn diagram of the set of range views. The connection of these local models by constrained Delaunay triangulations yields a non-redundant surface triangulation describing all surface elements sampled by the set of range views. Experimental results show that the integration technique can be used to build connected surface models of free-form objects. No integrated models built from objects of such complexity have yet been reported in the literature. It is assumed that accurate range views are available and that frame transformations between all pairs of views can be reliably computed.

[1] J.-A. Beraldin, M. Rioux, F. Blais, G. Godin, and R. Baribeau, "Model-Based Calibration of a Range Camera," Proc. 11th Intl. Conf. Pattern Recognition, pp. 163-167, The Hague, The Netherlands, 1992.
[2] R. Bergevin,D. Laurendeau,, and D. Poussart,“Estimating the 3D rigid transformation between two range views of a complex object,” Proc of the 11th Intl. Conf. on Pattern Recognition, pp. 478-482, Aug.30- Sept.3, 1992.
[3] P.J. Besl, Surfaces in Range Image Understanding. New York: Springer-Verlag 1988.
[4] B. Bhanu,“Representation and shape matching of 3D objects,” IEEE Trans. on PAMI, vol. 6, pp. 340-351, May 1984.
[5] J.-D. Boissonnat, “Geometric Structues for Three-Dimensional Shape Representation,” ACM Trans. Graphics, vol. 3, no. 4, pp. 266-286, Oct. 1984.
[6] Y. Chen and G. Medioni, "Object Modeling by Registration of Multiple Range Views," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 2,724-2,729,Sacramento, Calif., 1991.
[7] W.G. Chinn and N.E. Steenrod,First Concepts of Topology,New York, NY: Random House, 1966, pp. 16-51.
[8] L. De Floriani and E. Puppo, "Constrained Delaunay Triangulation for Multiresolution Surface Description," Proc. Ninth IEEE Int'l Conf. Pattern Recognition, pp. 566-569, 1988.
[9] L. De Floriani,“A pyramidal data structure for triangle-based surface description,” IEEE Computer Graphics Applications, pp. 67-78, Mar. 1989.
[10] H. Gagnon, M. Soucy, R. Bergevin, and D. Laurendeau, "Registration of Multiple Range Views for Automatic 3-D Model Building," Proc. IEEE Conf. Computer Vision and Pattern Recognition,Seattle, Wash., June 1994.
[11] C.M. Hoffmann, Geometric and Solid Modeling, Morgan Kaufmann, San Mateo, Calif., 1989.
[12] H. Hoppe, T. DeRose, T. Duchamp, J. McDonald, and W. Stuetzle, “Surface Reconstruction from Unorganized Points,” Proc. SIGGRAPH '92, pp. 71-78, 1992.
[13] B.K. Horn, Robot Vision. Cambridge, Mass.: MIT Press, 1986.
[14] R.A. Jarvis,“Range-finding techniques for computer vision,” IEEE Trans. on PAMI, vol. 5, no. 2, pp. 122-139, Mar. 1983.
[15] D. Knuth, The Art of Computer Programming, vol. 3: Sorting and Searching. Addison-Wesley, 1973.
[16] D. Laurendeau and D. Poussart,“Model building of three-dimensional objects using edge information and hemispheric histogram,” IEEE Journal of Robotics and Automation, vol. RA-3, no. 5, pp. 459-470, Oct. 1987.
[17] J.B. Murdoch,Illumination Engineering,New York, NY: Macmillan, 1985.
[18] M. Potmesil,“Generating models of solid objects by matching 3D surface segments,” Proc. of the 8th IJCAI, pp. 1089-1093, Aug.8-12, 1983.
[19] D. Poussart and D. Laurendeau,“3D sensing for industrial computer vision,” Advances in Machine Vision, J.L.C. Sanz, ed., Berlin: Springer-Verlag, 1989, pp. 122-159.
[20] M. Rioux,“Laser range finder based on synchronized scanners,” Applied Optics, vol. 23, no. 21, pp. 3837-3844, Nov. 1984.
[21] R. Sibson,“Locally equiangular triangulation,” Computer Journal, vol. 21, pp. 243-245, 1978.
[22] M. Soucy and D. Laurendeau,“Building a surface model of an object using multiple range views,” Proc. of SPIE Conf. on Intelligent Robots and Computer Vision X: Neural, Biological, and 3D Methods, pp. 85-96, Nov.10-15, 1991.
[23] M. Soucy,A. Croteau,, and D. Laurendeau,“A multi-resolution surface model for compact representation of range images,” Proc. of IEEE Intl. Conf. on Robotics and Automation, pp. 1701-1706, May10-15, 1992.
[24] M. Soucy and D. Laurendeau, "Multi-Resolution Surface Modeling from Multiple Range Views," Proc. IEEE Computer Visiion and Pattern Recognition Conf. '92, pp. 348-353, 1992.
[25] M. Soucy and D. Laurendeau, “Surface Modeling from Dynamic Integration of Multiple Range Views,” Proc. 1992 Int'l Conf. Pattern Recognition, pp. I:449-452, 1992.
[26] M. Soucy,“Modeling the surface of 3D objects using multiple range views,” PhD thesis, Laval University, Quebec, Canada, 1992 (in French).
[27] R. Szeliski, D. Tonnesen, and D. Terzopoulos, "Modeling Surfaces of Arbitrary Topology with Dynamic Particles," Proc. IEEE Computer Vision and Pattern Recognition, pp. 82-85,New York, NY, June 1993.
[28] B.C. Vemuri and J.K. Aggarwal,“3D model construction from multiple views using range and intensity data,” Proc. of IEEE Conf. on CVPR, pp. 435-438, Jun. 1986.
[29] J.W.T. Walsh,Photometry, 3rd Ed., London, England: Constable, 1958.
[30] N. Yokoya and M. Levine,“Range image segmentation based on differential geometry: a hybrid approach,” IEEE Trans. on PAMI, vol. 11, no. 6, pp. 643-649, Jun. 1989.

Index Terms:
Range views, surface integration, triangulation, Venn diagram, view integration.
Marc Soucy, Denis Laurendeau, "A General Surface Approach to the Integration of a Set of Range Views," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 17, no. 4, pp. 344-358, April 1995, doi:10.1109/34.385982
Usage of this product signifies your acceptance of the Terms of Use.