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.