Multimodal Scene Reconstruction Using Genetic Algorithm-Based Optimization

Many applications require the use of 3D graphics to create models of real environments. These models are usually built from range or depth images. In the scene modeling process, the use of additional 2D digital sensorial information leads to multimodal scene representation, where an image acquired by a 2D sensor is used as a texture map for a geometric model of a scene. In this chapter we present, as an example of optimization, a photo-realistic scene reconstruction procedure using laser range data and color photographs.