URBAN GEOMETRY ESTIMATION FROM LASER MEASUREMENTS

Photographic images can be used to enhance three-dimensional (3D) virtual models of a physical location. In an embodiment, a method of generating a 3D scene geometry includes obtaining a first plurality of images and corresponding distance measurements for a first vehicle trajectory; obtaining a second plurality of images and corresponding distance measurements for a second vehicle trajectory, the second vehicle trajectory intersecting the first vehicle trajectory; registering a relative vehicle position and orientation for one or more segments of each of a first vehicle trajectory and a second vehicle trajectory; generating a three-dimensional geometry for each vehicle trajectory; mapping the three-dimensional geometries for each vehicle trajectory onto a common reference system based on the registering; and merging the three-dimensional geometries from both trajectories to generate a complete scene geometry.