The advantage of using panoramic views is that 3-D data corresponding to a wide field of view is acquired all at once. This is in comparison to merging many disparate depth maps from different pairs of views to generate similar 3-D output. In addition, this helps to reject outliers and reduce the effects of noise. These goals are accomplished by fitting planar patches to the acquired data. The display interface can be controlled using both the mouse and keyboard.
Registration is the process by which data sets are brought into alignment.
This has shown to have resulted in improved performance. Our approach to integration uses a 3-D occupancy grid to represent likelihood of spatial occupancy through voting. The occupancy grid representation allows the incorporation of sensor modeling. The surface of the merged model is recovered by detecting ridges in the occupancy grid, and subsequently polygonized using the standard Marching Cubes algorithm. Texture merging is accomplished by trilinear interpolation of overlapping textures corresponding to the original contributing data sets.