Point-based integration for 3D object reconstruction from Ladar range images

A method of point-based integration from multiple registered laser radar (Ladar) range images for 3D object reconstruction is presented in this literature. Our method operates surface point data directly and provides a direct way for overlapping data removal. The overlapping areas were detected using a single distance threshold. In order to set the distance threshold, a local point density approach is introduced to solve it. Compared with the mesh-based, volumetric and other points-based integration approaches, our method is simple and fast, and need less storage memory. The approach is performed on various objects with different geometric shapes. The experimental results demonstrate the efficiency and feasibility of our method.