In this paper, we propose a scheme for 3D model construction by fusing
heterogeneous sensor data. The proposed scheme is intended for use in
an environment where multiple, heterogeneous sensors operate asynchro
nously. Surface depth, orientation, and curvature measurements obtaine
d from multiple sensors and vantage points are incorporated to constru
ct a computer description of the imaged object. The proposed scheme us
es Kalman filter as the sensor data integration tool and hierarchical
spline surface as the recording data structure. Kalman filter is used
to obtain statistically optimal estimates of the imaged surface struct
ure based on possibly noisy sensor measurements. Hierarchical spline s
urface is used as the representation scheme because it maintains high-
order surface derivative continuity, may be adaptively refined, and is
storage efficient. We show in this paper how these mathematical tools
can be used in designing a modeling scheme to fuse heterogeneous sens
or data. (C) 1994 Academic Press, Inc.