3D modeling, reconstruction and analysis of environments assisted by multi-sensorial data processing

The aim of this thesis is the design and development of intelligent systems for the analysis of complex scenes by using 3D information. This leads to the study of novel techniques, as well as the optimization of known algorithms. In fact, once the 3D point cloud is extracted, it needs to be appropriately processed to perform, for example, the identification of an object or a subject, its tracking in the 3D space or the semantic analysis of the scene. The ability of interpreting a scene via software starting from the output of a camera or a depth sensor is an ambitious objective of certain scientific interest. Nevertheless, it is necessary to develop new methodologies as well as optimize and revise the known ones to achieve this goal, because semantic analysis highly depends on all the other software modules of the vision system (both 2D or 3D). Good models and effective processing algorithms are the keys to enable reliable high level modules on complex systems.