{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T06:17:17Z","timestamp":1775197037370,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2013,1,15]],"date-time":"2013-01-15T00:00:00Z","timestamp":1358208000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We present a technique for the multi-sensor registration of featureless datasets based on the photogrammetric tracking of the acquisition systems in use. This method is developed for the in situ study of cultural heritage objects and is tested by digitizing a small canvas successively with a 3D digitization system and a multispectral camera while simultaneously tracking the acquisition systems with four cameras and using a cubic target frame with a side length of 500 mm. The achieved tracking accuracy is better than 0.03 mm spatially and 0.150 mrad angularly. This allows us to seamlessly register the 3D acquisitions and to project the multispectral acquisitions on the 3D model.<\/jats:p>","DOI":"10.3390\/s130101004","type":"journal-article","created":{"date-parts":[[2013,1,15]],"date-time":"2013-01-15T11:11:19Z","timestamp":1358248279000},"page":"1004-1020","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Registration of 3D and Multispectral Data for the Study of Cultural Heritage Surfaces"],"prefix":"10.3390","volume":"13","author":[{"given":"Camille","family":"Chane","sequence":"first","affiliation":[{"name":"i3mainz, Fachhochschule Mainz, Lucy-Hillebrand-Stra\u00dfe 2, 55128 Mainz, Germany"},{"name":"le2i, Universit\u00e9 de Bourgogne, B.P. 47870, 21078 Dijon CEDEX, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rainer","family":"Sch\u00fctze","sequence":"additional","affiliation":[{"name":"i3mainz, Fachhochschule Mainz, Lucy-Hillebrand-Stra\u00dfe 2, 55128 Mainz, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Frank","family":"Boochs","sequence":"additional","affiliation":[{"name":"i3mainz, Fachhochschule Mainz, Lucy-Hillebrand-Stra\u00dfe 2, 55128 Mainz, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Franck","family":"Marzani","sequence":"additional","affiliation":[{"name":"le2i, Universit\u00e9 de Bourgogne, B.P. 47870, 21078 Dijon CEDEX, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,1,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1109\/MSP.2008.923095","article-title":"Multispectral imaging of paintings","volume":"25","author":"Pelagotti","year":"2008","journal-title":"IEEE Signal Process. Mag."},{"key":"ref_2","unstructured":"Arnaoutoglou, F., Koutsoudis, A., Pavlidis, G., Tsioukas, V., and Chamzas, C. (2006, January 25\u201327). Towards a Versatile Handheld 3D Laser Scanner. Dresden, Germany."},{"key":"ref_3","first-page":"6","article-title":"3D-archGIS: Archiving cultural heritage in a 3D multimedia space","volume":"6","author":"Tsirliganis","year":"2003","journal-title":"DigiCult. Inform."},{"key":"ref_4","first-page":"1","article-title":"Integrated geoscience data, maps and 3D models for the City of Glasgow, UK","volume":"394","author":"Merritt","year":"2006","journal-title":"IAEG"},{"key":"ref_5","unstructured":"Serna, S.P., Schmedt, H., Ritz, M., and Stork, A. (2012, January 19\u201321). Interactive Semantic Enrichment of 3D Cultural Heritage Collections. Brighton, UK."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1109\/MMUL.2007.22","article-title":"Toward a 3D multispectral scanner: An application to multimedia","volume":"14","author":"Mansouri","year":"2007","journal-title":"IEEE MultiMed."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"373","DOI":"10.1007\/s00138-006-0026-2","article-title":"A system for 3D modeling frescoed historical buildings with multispectral texture information","volume":"17","author":"Brusco","year":"2006","journal-title":"Mach. Vis. Appl."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"370","DOI":"10.1117\/12.453008","article-title":"Development of gonio-photometric imaging system for recording reflectance spectra of 3D objects","volume":"4663","author":"Tonsho","year":"2001","journal-title":"Proc. SPIE"},{"key":"ref_9","first-page":"1","article-title":"Integrated shape, color, and reflectivity measurement method for 3D digitization of cultural heritage objects","volume":"7526","author":"Sitnik","year":"2010","journal-title":"Proc. SPIE"},{"key":"ref_10","unstructured":"Puppo, E., Brogni, A., and de Floriani, L. (2010). Framework for Virtual Restoration of Ancient Documents by Combination of Multispectral and 3D Imaging, Eurographics Italian Chapter Conference."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1109\/JRA.1987.1087109","article-title":"A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses","volume":"3","author":"Tsai","year":"1987","journal-title":"IEEE J. Robot. Autom."},{"key":"ref_12","unstructured":"Pulli, K. (1997). Surface Reconstruction and Display from Range and Color Data. [Ph.D. Thesis, University of Washington]."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"186","DOI":"10.1007\/s003710100146","article-title":"Acquiring, stitching and blending diffuse appearance attributes on 3D models","volume":"18","author":"Rocchini","year":"2002","journal-title":"Vis. Comput."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1023\/A:1007958904918","article-title":"Alignment by maximization of mutual information","volume":"24","author":"Viola","year":"1997","journal-title":"Int. J. Comput. Vis."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1109\/42.563664","article-title":"Multimodality image registration by maximization of mutual information","volume":"16","author":"Maes","year":"1997","journal-title":"IEEE Trans. Med. Imag."},{"key":"ref_16","unstructured":"Remondino, F., Pelagotti, A., Del Mastio, A., and Uccheddu, F. (2009, January 1\u20133). Novel Data Registration Techniques for Art Diagnostics and 3D Heritage Visualization. Vienna, Austria."},{"key":"ref_17","unstructured":"Puppo, E., Brogni, A., and de Floriani, L. (2010). Improving 2D-3D Registration by Mutual Information Using Gradient Maps, Eurographics Italian Chapter Conference."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1755","DOI":"10.1111\/j.1467-8659.2009.01552.x","article-title":"Image-to-geometry registration: A mutual information method exploiting illumination-related geometric properties","volume":"28","author":"Corsini","year":"2009","journal-title":"Comput. Graph. Forum"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"709","DOI":"10.1109\/TAES.1979.308860","article-title":"Magnetic position and orientation tracking system","volume":"15","author":"Raab","year":"1979","journal-title":"IEEE Trans. Aero. Electron. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1938","DOI":"10.1109\/20.951014","article-title":"A new method for magnetic position and orientation tracking","volume":"37","author":"Paperno","year":"2001","journal-title":"IEEE Trans. Magn."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2725","DOI":"10.1109\/TMAG.2007.893314","article-title":"Characterization of a novel magnetic tracking system","volume":"43","author":"Sherman","year":"2007","journal-title":"IEEE Trans. Magn."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1109\/38.974519","article-title":"Building a digital model of michelangelo's florentine piet\u00e0","volume":"22","author":"Bernardini","year":"2002","journal-title":"IEEE Comput. Graph. Appl."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1205","DOI":"10.1016\/j.robot.2012.05.005","article-title":"On-line, collision-free positioning of a scanner during fully automated three-dimensional measurement of cultural heritage objects","volume":"60","author":"Karaszewski","year":"2012","journal-title":"Robot. Autonom. Syst."},{"key":"ref_24","unstructured":"Leica T-Scan. Available online: http:\/\/metrology.leica-geosystems.com\/en\/Leica-T-Scan_1836.htm (accessed on 21 September 2012)."},{"key":"ref_25","unstructured":"Steinbichler T-Scan 3. Available online: http:\/\/www.steinbichler.com\/products\/surface-scanning\/3d-digitizing\/t-scan-3.html (accessed on 21 September 2012)."},{"key":"ref_26","unstructured":"Creaform MetraScan 70 and 120. Available online: http:\/\/www.creaform3d.com\/en\/metrology-solutions\/optical-3d-scanner-metrascan (accessed on 21 September 2012)."},{"key":"ref_27","unstructured":"NDI ScanTrak. Available online: http:\/\/www.ndigital.com\/industrial\/optotrakproseries-models.php (accessed on 21 September 2012)."},{"key":"ref_28","unstructured":"Blais, F., Taylor, J., Beraldin, J.A., Godin, G., Cournoyer, L., Picard, M., Borgeat, L., Dicaire, L., Rioux, M., Lahanier, C., and Aitken, G. (2005). International Workshop on Recording, Modeling and Visualization of Cultural Heritage, Taylor & Francis."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"558","DOI":"10.1016\/j.isprsjprs.2010.06.003","article-title":"Close range photogrammetry for industrial applications","volume":"65","author":"Luhmann","year":"2010","journal-title":"ISPRS J. Photogramm. Rem. Sens."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Schoeffmann, K., Merialdo, B., Hauptmann, A.G., Ngo, C.W., Andreopoulos, Y., and Breiteneder, C. (2012). Advances in Multimedia Modeling LNCS 7131, Springer-Verlag.","DOI":"10.1007\/978-3-642-27355-1"},{"key":"ref_31","unstructured":"FluxData The FD-1665-MS 7 Channel Camera. Available online: http:\/\/www.fluxdata.com\/products\/fd-1665-ms7 (accessed on 18 October 2012)."},{"key":"ref_32","unstructured":"Berns, R.S., Taplin, L., Nezamabadi, M., Mohammadi, M., and Zhao, Y. (2005, January 12\u201316). Spectral Imaging Using a Commercial Color-Filter Array Digital Camera. Citeseer, The Netherlands. Volume 2."},{"key":"ref_33","first-page":"718","article-title":"Neural networks in two cascade algorithms for spectral reflectance reconstruction","volume":"2","author":"Mansouri","year":"2005","journal-title":"IEEE Int. Conf. Image Process."},{"key":"ref_34","unstructured":"Gom ATOS-Industrial 3D Scanning Technology. Available online: http:\/\/www.gom.com\/metrology-systems\/3d-scanner.html (accessed on 6 October 2012)."},{"key":"ref_35","unstructured":"Gom Tritop Deformation Software. Available online: http:\/\/www.gom.com\/3d-software\/tritop-deformation-software.html (accessed on 10 December 2012)."},{"key":"ref_36","unstructured":"Axios3D Axori Photogrammetric Bundle Block Adjustment, AXOriLib 1.10.8. Available online: http:\/\/www.axios3d.de (accessed on 10 December 2012)."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_38","unstructured":"Rusinkiewicz, S., and Levoy, M. (June, January 28). Efficient Variants of the ICP Algorithm. Quebec, Canada."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/1004\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:44:17Z","timestamp":1760219057000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/1004"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,1,15]]},"references-count":38,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2013,1]]}},"alternative-id":["s130101004"],"URL":"https:\/\/doi.org\/10.3390\/s130101004","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,1,15]]}}}