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A Flexible Approach to Close-Range 3-D Modeling

This thesis presents the algorithms required for the production of a multisensory hand-held 3-D modeling system, the DLR 3D-Modeler. First, flexible and accurate sensor models, as well as their calibration methods, are presented. Second, the robust and efficient processing of raw sensor data is addressed. Last, the device is extended to passive visual pose tracking, yielding the first hand-held 3-D modeling device for close-range applications that localizes itself passively from its own images in realtime, at a high data rate.