Building a surface model of an object using multiple range views

This paper presents a two-step technique to build a non-redundant surface model of an object using information provided by N registered range views. In the first processing step, the redundancy between views (e.g., 3-D information belonging to more than one view) is detected. Range views are considered as sets of 3-D points. The redundancy between the views is modeled by the Venn diagram of the N sets. Using the Venn diagram, the second processing step yields a non-redundant surface model of the object. A mesh of 3-D triangles defined in an object-centered reference frame describes the surface information present in the N range views. The proposed view integration technique is independent of the number of 3-D views and does not impose orthogonallity between them.