Vítor Sequeira

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This paper presents techniques for the merging of 3D data coming from different sensors, such as ground and aerial laser range scans. The 3D models created are reconstructed to give a photo-realistic scene enabling interactive virtual walkthroughs, measurements and scene change analysis. The reconstructed model is based on a weighted integration of all(More)
This paper presents a 3D reality modelling system, applying lasers and digital photography to create superaccurate photo-realistic three-dimensional worlds. A key feature of the 3D reality system is its flexibility. It can be used with all common long-range scanners and digital or video cameras, without the need of any pre-calibration or static arrangement(More)
It is important in Nuclear Security to detect changes made in a given installation or track the progression of the construction work in a new plant. This paper describes a system accepting multi-sensory, variable scale data as input. Scalability allows for different acquisition systems and algorithms according to the size of the objects/buildings/sites to(More)
In this paper, a novel technique combining intensity and range data is presented. Passive (intensity based) and active (range based) techniques used for 3D reconstruction have their limitations and separately, none of these techniques can solve all the problems inherent to the modelling of real environments. Our technique aims to demonstrate how both(More)
When aiming at the automated reconstruction of real world scenes from range images, one has to address the problem of planning the image acquisition. Although solutions for small objects in well defined environments are already available, the insufficient scalability of these approaches to large scenes and to a high number of degrees of freedom limits their(More)
This paper presents a process combining range and intensity based techniques, in order to get better 3D models than those obtained using these techniques separately. The procedure needs an initial estimation for internal and external camera parameters for two or more intensity images. The technique uses passive triangulation to refine initial camera(More)
This paper describes a technique for constructing a geometric model of an unknown environment based on data acquired by a Laser Range Finder on board of a mobile robot. The geometric model would be most useful both for navigation and verification purposes. The paper presents all the steps needed for the description of the environment, including the range(More)