A multi-sensor approach to creating accurate virtual environments

Creating virtual environment models often requires geometric data from range sensors as well as photometric data from CCD cameras. The model must be geometrically correct, visually realistic, and small enough in size to allow real-time rendering. We present an approach based on 3D range sensor data, multiple CCD cameras, and a colour high-resolution digital still camera. The multiple CCD cameras provide images for a photogrammetric bundle adjustment with constraints. The results of the bundle adjustments are used to register the 3D images from the range sensor in one coordinate system. The images from the high-resolution still camera provide the texture for the final model. The paper describes the system, the techniques for the registration of the 3D images, the building of the efficient geometric model, and the registration and integration of the texture with a simplified geometric model.