New tools for rock art modelling: automated sensor integration in Pindal Cave

This paper presents the integration of automated sensors based on a terrestrial laser scanner and an amateur digital camera with the aim of generating a photorealistic three-dimensional (3D) model of the Principal Panel in Pindal Cave (Spain). The approach developed for 3D modelling overcomes many of the problems related to the independent implementation of photogrammetry and laser scanning. Particularly, a sequential and hierarchical approach was developed based on the processing and matching of images from the camera (camera image) and the laser scanner (range image). The results obtained demonstrate that the workflow for this model is automatic, effective, and accurate. The presented approach was found to create hyper-realistic models, even improving upon human visual capabilities.