Airborne acquisition and on-road mobile mapping provide complementary 3Dinformation of an urban landscape: the former acquires roof structures, ground,and vegetation at a large scale, but lacks the facade and street-side details,while the latter is incomplete for higher floors and often totally misses outon pedestrian-only areas or undriven districts. In this work, we introduce anapproach that efficiently unifies a detailed street-side Structure-from-Motion(SfM) or Multi-View Stereo (MVS) point cloud and a coarser but more completepoint cloud from airborne acquisition in a joint surface mesh. We propose apoint cloud blending and a volumetric fusion based on ray casting across a 3Dtetrahedralization (3DT), extended with data reduction techniques to handlelarge datasets. To the best of our knowledge, we are the first to adopt a 3DTapproach for airborne/street-side data fusion. Our pipeline exploits typicalcharacteristics of airborne and ground data, and produces a seamless,watertight mesh that is both complete and detailed. Experiments on 3D urbandata from multiple sources and different data densities show the effectivenessand benefits of our approach.
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