Fusion of range camera and photogrammetry: A systematic procedure for improving 3-D models metric accuracy

The generation of three-dimensional (3-D) digital models produced by optical technologies in some cases involves metric errors. This happens when small high-resolution 3-D images are assembled together in order to model a large object. In some applications, as for example 3-D modeling of,Cultural Heritage, the problem of metric accuracy is a major issue and no methods are currently available for enhancing it. In this paper the authors present a procedure by which the metric reliability of the 3-D model, obtained through iterative alignments of many range maps, can be guaranteed to a known acceptable level. The goal is the integration of the 3-D range camera system with a close range digital photogrammetry technique. The. basic idea is to generate a global coordinate system, determined by the digital photogrammetric procedure, measuring the spatial coordinates of optical targets placed around the object to be modeled. Such coordinates, set as reference points, allow the proper rigid motion of few key range maps, including a portion of the targets, in the global reference system defined by photogrammetry. The other 3-D images are normally aligned around these locked images with usual iterative algorithms. Experimental results on a anthropomorphic test object, comparing the conventional and the proposed alignment method, are finally reported.