Fast Omnidirectional 3D Scene Acquisition with an Array of Stereo Cameras

We present an omnidirectional 3D acquisition system based on a mobile array of high-resolution consumer digital SLR cameras that automatically capture high dynamic range stereo pairs across a full 360-degree panorama. The stereo pairs are augmented with a time-varying lighting pattern created using standard photographic flashes, lenses, and patterned slides. Spacetime stereo techniques are used to generate 3D range images with corresponding color data from the HDR photographs. The multiple range images are aligned with egomotion estimation and ICP registration techniques, and volumetric merging and color texturing algorithms allow the rapid creation of complete 3D models. The resulting system compares favorably with other state of the art 3D acquisition technologies in the resolution and quality of its output, and can be faster and less expensive than 3D laser scanners for digitizing large 3D scenes such as building interiors.