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The importance of creating 3D imagery is increasing and has many applications in the eld of disaster response, digital elevation models, object recognition, and cultural heritage. Several methods have been proposed to register texel images, which consist of fused lidar and digital imagery. The previous methods were limited to registering up to two texel images or multiple texel swaths having only one strip of lidar data per swath. One area of focus still remains to register multiple texel images to create a 3D model.

The process of creating true 3D images using multiple texel images is described. The texel camera fuses the 2D digital image and calibrated 3D lidar data to form a texel image. The images are then taken from several perspectives and registered. The advantage of using multiple full frame texel images over 3D- or 2D-only methods is that there will be better registration between images because of the overlapping 3D points as well as 2D texture used in the joint registration process. The individual position and rotation mapping to a common world coordinate frame is calculated for each image and optimized. The proposed methods incorporate bundle adjustment for jointly optimizing the registration of multiple images. Sparsity is exploited as there is a lack of interaction between parameters of different cameras. Examples of the 3D model are shown and analyzed for numerical accuracy.