  In this paper, we present the development of a sensing system with the
capability to compute multispectral point clouds in real-time. The proposed
multi-eye sensor system effectively registers information from the visible,
(long-wave) infrared, and ultraviolet spectrum to its depth sensing frame, thus
enabling to measure a wider range of surface features that are otherwise hidden
to the naked eye. For that, we designed a new cross-calibration apparatus that
produces consistent features which can be sensed by each of the cameras,
therefore, acting as a multispectral "chessboard". The performance of the
sensor is evaluated with two different cases of studies, where we show that the
proposed system can detect "hidden" features of a 3D environment.
