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Fusion of registered 2D intensity and 3D range data on an SIMD machine

The present work outlines a design strategy whereby 2D intensity and 3D range data are fused in order to yield higher accuracy range sensing. The proposed method can be applied to a wide variety of range finder systems with minor or no changes in the procedure used for raw data acquisition. The approach exploits a modified shape-from-shading algorithm which allows the inclusion of range data. The algorithm has been mapped on an SIMD parallel computer with 2048 processors. Since this is a data parallel problem needing only local communications, the efficiency of the execution is quite high and we have observed speed gains of sixty compared to a SunSPARC. The precision improvement obtained for the range image has been evaluated for a variety of 3D scenes, and is typically better than 2 bits.