Abstract
For constructing a geometric and photometric model of a large-scale cultural heritage using a laser range finder and a digital camera, a number of measurements must be performed at various viewpoints. However, in general, obtained range images must be aligned into standard coordinates by applying registration algorithms such as ICP. To shorten the processing time and simplify the geometric modeling, we have developed a laser measuring system using multiple robots and the precise positioning system named Cooperative Positioning System or CPS. Additionally, as a simple photometric modeling, we proposed a method to align texture images accurately onto a geometric model using range data. This paper presents the measurement experiments in "Dazaifu Tenmangu" shrine which is a national important cultural property of Japan by the proposed system consisting of three mobile robots.
