A computer-assisted range image registration system for nuclear waste cleanup

Building a three-dimensional (3-D) computer-based representation of a large or complex scene from a set of range images requires assembling the range images so that they are spatially registered. This paper will present a tec hnique for finding a homogeneous transformation between a pair of range Ima ges while making use of both range and intensity information obtained using a laser range scanner. A demonstrated application featuring this technique consists of building a 3-D representation of a nuclear dumpsite, which the n serves to help control a teleoperated nuclear waste remediation system.