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Constructing highly detailed Three-Dimensional (3-D) models of large complex sites using range scanners can be a time-consuming manual process. One of the main drawbacks is determining where to place the scanner to obtain complete coverage of a site. The authors have developed a system for automatic view planning called VuePlan. When combined with the mobile robot, AVENUE, the authors have a system that is capable of modeling large-scale environments with minimal human intervention throughout both the planning and acquisition phases. The system proceeds in two distinct stages. In the initial phase, the system is given a two-dimensional site footprint with which it plans a minimal set of sufficient and properly constrained covering views.
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