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An algorithm is presented to estimate the position of a hand-held camera with respect to a 3d world model constructed from range data and color imagery. Little prior knowledge is assumed about the camera position. The algorithm includes stages that (1) generate an ordered set of initial model-to-image mapping estimates, each accurate only in a small region(More)
Range scans produced by LiDAR (Light Detection and Ranging) intrinsically suffer from “shadows” of missing data cast on surfaces by occluding objects. In this paper, we show how a single additional image of the scene from a different perspective can be used to automatically fill in high-detail structure in these shadow regions. The technique(More)
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