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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.

Registration of 3D and Multispectral Data for the Study of Cultural Heritage Surfaces