Mapping textures on 3D geometric model using reflectance image

Texture mapping on scanned objects, that is, the method of mapping current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. This paper focuses on the reflectance image of the laser scanner which is given as side products of range images for most of the range sensors, and proposes a new calibration method for the texture mapping using reflectance images and the iterative pose estimation using robust M-estimator.