COMPLETE 3D BOUNDARY REPRESENTATION FROM MULTIPLE RANGE IMAGES - EXPLOITING GEOMETRIC CONSTRAINTS

We describe an approach that generates a complete b-rep description of a polyhedral object from (geometric primitives derived from) dense ra nge images taken from multiple view-points. Our approach, starting fro m basic face models of visible surfaces of objects in each local view, matches certain geometric features, extracts rigid-body transformatio ns that relate the local views, and incrementally merges the face mode ls (in local views) into a global 3-dimensional b-rep description of t he object. A convenient and effective termination criterion is designe d to monitor the merging process. The emphasis is on the use of geomet ric constraints in building a complete 3-dimensional model of the obje ct. We have implemented this system in C, running on a SUN Sparcstatio n. The system, as presented, has been tested on face models derived fr om several synthetic and real range images and performs successfully w ith realistic noise levels.