Journal articles: 'Structured light 3D scanning'

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Zahia, Sofia, Begonya Garcia-Zapirain, Jon Anakabe, Joan Ander, Oscar Jossa Bastidas, and Alberto Loizate Totoricagüena. "A Comparative Study between Scanning Devices for 3D Printing of Personalized Ostomy Patches." Sensors 22, no. 2 (January 12, 2022): 560. http://dx.doi.org/10.3390/s22020560.

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This papers presents a comparative study of three different 3D scanning modalities to acquire 3D meshes of stoma barrier rings from ostomized patients. Computerized Tomography and Structured light scanning methods were the digitization technologies studied in this research. Among the Structured Light systems, the Go!Scan 20 and the Structure Sensor were chosen as the handheld 3D scanners. Nineteen ostomized patients took part in this study, starting from the 3D scans acquisition until the printed ostomy patches validation. 3D mesh processing, mesh generation and 3D mesh comparison was carried out using commercial softwares. The results of the presented study show that the Structure Sensor, which is the low cost structured light 3D sensor, has a great potential for such applications. This study also discusses the benefits and reliability of low-cost structured light systems.

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van der Lucht, J., M. Bleier, F. Leutert, K. Schilling, and A. Nüchter. "STRUCTURED-LIGHT BASED 3D LASER SCANNING OF SEMI-SUBMERGED STRUCTURES." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2 (May 28, 2018): 287–94. http://dx.doi.org/10.5194/isprs-annals-iv-2-287-2018.

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In this work we look at 3D acquisition of semi-submerged structures with a triangulation based underwater laser scanning system. The motivation is that we want to simultaneously capture data above and below water to create a consistent model without any gaps. The employed structured light scanner consist of a machine vision camera and a green line laser. In order to reconstruct precise surface models of the object it is necessary to model and correct for the refraction of the laser line and camera rays at the water-air boundary. We derive a geometric model for the refraction at the air-water interface and propose a method for correcting the scans. Furthermore, we show how the water surface is directly estimated from sensor data. The approach is verified using scans captured with an industrial manipulator to achieve reproducible scanner trajectories with different incident angles. We show that the proposed method is effective for refractive correction and that it can be applied directly to the raw sensor data without requiring any external markers or targets.

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Todorov, Todor, and Nikolay Noev. "Technology of Three-Dimensional Scanning “Structured Light”." Digital Presentation and Preservation of Cultural and Scientific Heritage 4 (September 30, 2014): 87–94. http://dx.doi.org/10.55630/dipp.2014.4.10.

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Protection and preservation of cultural and historical heritage are particularly relevant today. The paper presents essence and challenges in the process of three-dimensional scanning of objects. Special attention is paid to the methodology of 3D scanning of cultural artifacts.

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Peng, Bin, Hai Shu Tan, and Fu Qiang Zhou. "Three-Dimensional Scanning System with Double Structured-Light Sensors." Applied Mechanics and Materials 226-228 (November 2012): 1938–41. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.1938.

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Three-dimensional (3D) vision scanning measurement is widely used in industry for its ability to obtain the 3D surface data of the object. Aiming at overcoming the shortcomings of 3D scanning measurement system with single structured-light sensor, such as limited measurement range and blind measurement area, a scanning system based on double structured-light sensors (DSS) is established. The object is scanned from two different directions, and the 3D surface coordinates are unified to the measurement coordinate system to obtain the 3D surface of the measured object. In this paper, the mathematical model of the DSS scanning system is established. Meanwhile, an on-site calibration approach based on planar target is proposed to complete the system calibration task. Finally, experimental results of practical data are given to show the feasibility and validity of the proposed system.

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Ahn, Byeongjoo, Ioannis Gkioulekas, and Aswin C. Sankaranarayanan. "Kaleidoscopic structured light." ACM Transactions on Graphics 40, no. 6 (December 2021): 1–15. http://dx.doi.org/10.1145/3478513.3480524.

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Full surround 3D imaging for shape acquisition is essential for generating digital replicas of real-world objects. Surrounding an object we seek to scan with a kaleidoscope, that is, a configuration of multiple planar mirrors, produces an image of the object that encodes information from a combinatorially large number of virtual viewpoints. This information is practically useful for the full surround 3D reconstruction of the object, but cannot be used directly, as we do not know what virtual viewpoint each image pixel corresponds---the pixel label. We introduce a structured light system that combines a projector and a camera with a kaleidoscope. We then prove that we can accurately determine the labels of projector and camera pixels, for arbitrary kaleidoscope configurations, using the projector-camera epipolar geometry. We use this result to show that our system can serve as a multi-view structured light system with hundreds of virtual projectors and cameras. This makes our system capable of scanning complex shapes precisely and with full coverage. We demonstrate the advantages of the kaleidoscopic structured light system by scanning objects that exhibit a large range of shapes and reflectances.

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Chiu, Chuang-Yuan, David L. Pease, Samantha Fawkner, and Ross H. Sanders. "Automated body volume acquisitions from 3D structured-light scanning." Computers in Biology and Medicine 101 (October 2018): 112–19. http://dx.doi.org/10.1016/j.compbiomed.2018.07.016.

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Gao, He, Fuqiang Zhou, Bin Peng, Yexin Wang, and Haishu Tan. "3D Wide FOV Scanning Measurement System Based on Multiline Structured-Light Sensors." Advances in Mechanical Engineering 6 (January 1, 2014): 758679. http://dx.doi.org/10.1155/2014/758679.

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Structured-light three-dimensional (3D) vision measurement is currently one of the most common approaches to obtain 3D surface data. However, the existing structured-light scanning measurement systems are primarily constructed on the basis of single sensor, which inevitably generates three obvious problems: limited measurement range, blind measurement area, and low scanning efficiency. To solve these problems, we developed a novel 3D wide FOV scanning measurement system which adopted two multiline structured-light sensors. Each sensor is composed of a digital CCD camera and three line-structured-light projectors. During the measurement process, the measured object is scanned by the two sensors from two different angles at a certain speed. Consequently, the measurement range is expanded and the blind measurement area is reduced. More importantly, since six light stripes are simultaneously projected on the object surface, the scanning efficiency is greatly improved. The Multiline Structured-light Sensors Scanning Measurement System (MSSS) is calibrated on site by a 2D pattern. The experimental results show that the RMS errors of the system for calibration and measurement are less than 0.092 mm and 0.168 mm, respectively, which proves that the MSSS is applicable for obtaining 3D object surface with high efficiency and accuracy.

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Papas, Nikolaos, Konstantinos Tsongas, Dimitrios Karolidis, and Dimitrios Tzetzis. "A COMPARISON OF LASER AND STRUCTURED LIGHT SCANNING TECHNOLOGIES FOR ARCHAEOLOGICAL APPLICATIONS." International Journal of Modern Manufacturing Technologies 13, no. 3 (December 25, 2021): 111–16. http://dx.doi.org/10.54684/ijmmt.2021.13.3.111.

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Reverse engineering and in particular three-dimensional digitization have become an essential part of the documentation of archaeological findings. 3D scanning produces a high-precision digital reference document. The factors that influence the quality of the 3D scanned data are the scanned object’s surface colour, its glossiness and geometry, and the ambient light during the scanning process. However, the actual equipment and scanning technologies are of primary importance. The current paper presents a qualitative and quantitative comparison between two 3D scanning devices of different technologies; structured light 3D scanning and laser 3D scanning. The benchmark for this comparison is an ancient Roman vase from the city of Thessaloniki, Greece. The object was scanned with every possible setting on each scanner, but only one configuration of settings on each device was selected for the final comparison. The main criterion for the final selection of the two 3D models acquired with the use of the two technologies was the proximity in the number of points and polygons produced for digitally restoring the ancient vase in the best possible way. The results indicate important differences regarding the accuracy of the final digital model. The laser technology produced better accuracy but with a significant cost in scanning time and model data size. On the other hand, the structured light technology achieved the optimal combination of scanning quality and accuracy, along with reduced acquisition time of scan data.

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Shi, Huifeng, Xianqiang Liu, Rui Wu, Yijing Zheng, Yonghe Li, Xiaopeng Cheng, Wilhelm Pfleging, and Yuefei Zhang. "In Situ SEM Observation of Structured Si/C Anodes Reactions in an Ionic-Liquid-Based Lithium-Ion Battery." Applied Sciences 9, no. 5 (March 6, 2019): 956. http://dx.doi.org/10.3390/app9050956.

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In situ scanning electron microscopy (SEM) offers a good way to investigate the structural evolution during lithiation and delithiation processes. In this paper, the dynamical morphological evolution of 3D-line-structured/unstructured Si/C composite electrodes was observed by in situ SEM. The investigation revealed the microstructural origin of large charge capacity for 3D-line-structured anodes. Based on this proposed mechanism, a coarse optimization of 3D-line-structured anodes was proposed. These results shed light on the unique advantages of using an in situ SEM technique when studying realistic bulk batteries and designing 3D electrode structures.

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Kalisperakis, Ilias, Lazaros Grammatikopoulos, Elli Petsa, and George Karras. "A Structured-Light Approach for the Reconstruction of Complex Objects." Geoinformatics FCE CTU 6 (December 21, 2011): 259–66. http://dx.doi.org/10.14311/gi.6.32.

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Recently, one of the central issues in the fields of Photogrammetry, Computer Vision, Computer Graphics and Image Processing is the development of tools for the automatic reconstruction of complex 3D objects. Among various approaches, one of the most promising is Structured Light 3D scanning (SL) which combines automation and high accuracy with low cost, given the steady decrease in price of cameras and projectors. SL relies on the projection of different light patterns, by means of a video projector, on 3D object sur faces, which are recorded by one or more digital cameras. Automatic pattern identification on images allows reconstructing the shape of recorded 3D objects via triangulation of the optical rays corresponding to projector and camera pixels. Models draped with realistic phototexture may be thus also generated, reproducing both geometry and appearance of the 3D world. In this context, subject of our research is a synthesis of state-of-the-art as well as the development of novel algorithms, in order to implement a 3D scanning system consisting, at this stage, of one consumer digital camera (DSLR) and a video projector. In the following, the main principles of structured light scanning and the algorithms implemented in our system are presented, and results are given to demonstrate the potential of such a system. Since this work is part of an ongoing research project, future tasks are also discussed.

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Chen, Zhe, Xu Dong Li, Shao Guang Shi, Hong Zhi Jiang, and Hui Jie Zhao. "Structured-Light Based Rapid 3D Measurement of Plant Canopy Structure." Applied Mechanics and Materials 701-702 (December 2014): 549–53. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.549.

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Density three dimensional plant canopy structure data has numerous applications in agriculture, but many existing 3D data collection approaches are time-consuming. In this paper, we present a measurement system based on structured-light for plant canopy structure data collection. The structured-light projector projects laser beam reflected by dual-oscillating mirror, arrives to the plant canopy, which is captured by a camera. We propose a new scanning mode, that is, during one exposure time of CCD camera, one mirror keeps moving in high frequency and small angle, while the other one maintains the same position, so that we can get a laser stripe rather than a spot in each image, from which about 100 sub-pixel centers of laser stripe can be extracted. Experiments show that the measurement system can rapid collect three dimensional information of the plant.

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Gacto-Sánchez, Purificación, Fernando Lobo-Bailón, Cristina Suárez, and Tomás Gómez- Cía. "Structured light scanning to evaluate three-dimensional anthropometry in HIV facial lipoatrophy." Surgical Techniques Development 1, no. 2 (October 25, 2011): 30. http://dx.doi.org/10.4081/std.2011.e30.

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The psychological and social impact of the lipodystrophy syndrome on HIV-infected individuals may be quite considerable and adversely affect their quality of life. Currently no validated assessment tool for facial lipoatrophy is available. The main objective of this paper is to evaluate the reliability of interactive anthropometric landmark localization based on digitized 3D facial images. By comparing both computed tomography (CT) and structured light scanning we try to demonstrate that surface scanning shows a higher sensitivity in measuring facial reference points. Besides, we evaluate the reproducibility of facial 3D white-light scans. Three HIVpositive men attending our plastic surgery outpatient clinic for treatment of facial lipodystrophy were enrolled in the study. Localization of anthropometric landmarks measurements was performed on the patients. All patients underwent a facial CT and a facial white-light scanning on the same day. The inter-landmark distances measured on facial models developed from CT aided with VirSSPA 3D software and structured light scanning were compared to the real human models. We found that facial distances measured in the CT 3D reconstruction showed a mean error margin of 0.357 cm from the real distances measured on patients. On the contrary, mean error margin with the white-light scanning was of 0.096 cm. In both cases, measurements were found to be statistically significant (P<0.05). When compared to CT reconstructions, white-light surface scanning offers a more accurate landmark localization as well as reliable reconstructions of up to less than the tenth of a millimetre as average when compared to real measurements on facial human models.

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Huang, Xueyan, Yueyi Zhang, and Zhiwei Xiong. "High-speed structured light based 3D scanning using an event camera." Optics Express 29, no. 22 (October 18, 2021): 35864. http://dx.doi.org/10.1364/oe.437944.

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Huang, Xueyan, Yueyi Zhang, and Zhiwei Xiong. "High-speed structured light based 3D scanning using an event camera." Optics Express 29, no. 22 (October 18, 2021): 35864. http://dx.doi.org/10.1364/oe.437944.

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Wi, Kwangwoo, Vignesh Suresh, Kejin Wang, Beiwen Li, and Hantang Qin. "Quantifying quality of 3D printed clay objects using a 3D structured light scanning system." Additive Manufacturing 32 (March 2020): 100987. http://dx.doi.org/10.1016/j.addma.2019.100987.

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Messer, Dolores, Michelle S. Svendsen, Anders Galatius, Morten T. Olsen, Vedrana A. Dahl, Knut Conradsen, and Anders B. Dahl. "Measurement error using a SeeMaLab structured light 3D scanner against a Microscribe 3D digitizer." PeerJ 9 (August 20, 2021): e11804. http://dx.doi.org/10.7717/peerj.11804.

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Background Geometric morphometrics is a powerful approach to capture and quantify morphological shape variation. Both 3D digitizer arms and structured light surface scanners are portable, easy to use, and relatively cheap, which makes these two capturing devices obvious choices for geometric morphometrics. While digitizer arms have been the “gold standard”, benefits of having full 3D models are manifold. We assessed the measurement error and investigate bias associated with the use of an open-source, high-resolution structured light scanner called SeeMaLab against the popular Microscribe 3D digitizer arm. Methodology The analyses were based on 22 grey seal (Halichoerus grypus) skulls. 31 fixed anatomical landmarks were annotated both directly using a Microscribe 3D digitizer and on reconstructed 3D digital models created from structured light surface scans. Each skull was scanned twice. Two operators annotated the landmarks, each twice on all the skulls and 3D models, allowing for the investigation of multiple sources of measurement error. We performed multiple Procrustes ANOVAs to compare the two devices in terms of within- and between-operator error, to quantify the measurement error induced by device, to compare between-device error with other sources of variation, and to assess the level of scanning-related error. We investigated the presence of general shape bias due to device and operator. Results Similar precision was obtained with both devices. If landmarks that were identified as less clearly defined and thus harder to place were omitted, the scanner pipeline would achieve higher precision than the digitizer. Between-operator error was biased and seemed to be smaller when using the scanner pipeline. There were systematic differences between devices, which was mainly driven by landmarks less clearly defined. The factors device, operator and landmark replica were all statistically significant and of similar size, but were minor sources of total shape variation, compared to the biological variation among grey seal skulls. The scanning-related error was small compared to all other error sources. Conclusions As the scanner showed precision similar to the digitizer, a scanner should be used if the advantages of obtaining detailed 3D models of a specimen are desired. To obtain high precision, a pre-study should be conducted to identify difficult landmarks. Due to the observed bias, data from different devices and/or operators should not be combined when the expected biological variation is small, without testing the landmarks for repeatability across platforms and operators. For any study necessitating the combination of landmark measurements from different operators, the scanner pipeline will be better suited. The small scanning-related error indicates that by following the same scanning protocol, different operators can be involved in the scanning process without introducing significant error.

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Bleier, M., and A. Nüchter. "LOW-COST 3D LASER SCANNING IN AIR ORWATER USING SELF-CALIBRATING STRUCTURED LIGHT." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W3 (February 23, 2017): 105–12. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w3-105-2017.

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In-situ calibration of structured light scanners in underwater environments is time-consuming and complicated. This paper presents a self-calibrating line laser scanning system, which enables the creation of dense 3D models with a single fixed camera and a freely moving hand-held cross line laser projector. The proposed approach exploits geometric constraints, such as coplanarities, to recover the depth information and is applicable without any prior knowledge of the position and orientation of the laser projector. By employing an off-the-shelf underwater camera and a waterproof housing with high power line lasers an affordable 3D scanning solution can be built. In experiments the performance of the proposed technique is studied and compared with 3D reconstruction using explicit calibration. We demonstrate that the scanning system can be applied to above-the-water as well as underwater scenes.

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Li, Renju, and Hongbin Zha. "Real-time structured light 3D scanning using colour stripes for hand tracking." International Journal of Mechatronics and Automation 2, no. 4 (2012): 262. http://dx.doi.org/10.1504/ijma.2012.050496.

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Yuan, Jianying, Qiong Wang, Xiaoliang Jiang, and Bailin Li. "A High-Precision Registration Technology Based on Bundle Adjustment in Structured Light Scanning System." Mathematical Problems in Engineering 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/897347.

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The multiview 3D data registration precision will decrease with the increasing number of registrations when measuring a large scale object using structured light scanning. In this paper, we propose a high-precision registration method based on multiple view geometry theory in order to solve this problem. First, a multiview network is constructed during the scanning process. The bundle adjustment method from digital close range photogrammetry is used to optimize the multiview network to obtain high-precision global control points. After that, the 3D data under each local coordinate of each scan are registered with the global control points. The method overcomes the error accumulation in the traditional registration process and reduces the time consumption of the following 3D data global optimization. The multiview 3D scan registration precision and efficiency are increased. Experiments verify the effectiveness of the proposed algorithm.

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Mugnai, F., G. Tucci, and A. Da Re. "DIGITAL IMAGE CORRELATION IN ASSESSING STRUCTURED-LIGHT 3D SCANNER’S GANTRY STABILITY: PERFORMING DAVID’S (MICHELANGELO) HIGH-ACCURACY 3D SURVEY." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVI-M-1-2021 (August 28, 2021): 463–69. http://dx.doi.org/10.5194/isprs-archives-xlvi-m-1-2021-463-2021.

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Abstract. The paper presents results from applying Digital Image Correlation (DIC) technique to determine deformations and verify stability on a gantry during surveying operations on the Michelangelo’s David at the Galleria dell’Accademia di Firenze museum in Florence. An advanced hi-resolution Structured-light 3D scanner has been used to create a hi-detailed digital twin of the masterpiece. Considering the high scanner sensitivity, a contactless, remote and passive monitoring system of the gantry stability has been chosen to guarantee maximum freedom of movement around the David and avoid any interference during scanning operations. Due to the remarkable elevation of the statue, which reaches almost 7 meters on his pedestal, and considering the cramped operating area around the statue, an ad-hoc gantry has been designed and deployed. The sophisticated scanner’s technique and the extreme hi-resolution required for the survey needed firm gantry stability during scanning operations from one side. The complex geometries and the considerable extension of the statue surface impose extended flexibility and a nimble elevation platform from the other side. Thanks to the DIC technique the gantry stability has been constantly monitored with an accuracy of 0.03 ÷ 0,04 pixels, optimising scanning scheduling and, consequently, operations efficiency. A comparison of scans with post-processed deformation patterns allowed to optimise the scanning schedule, minimising downtime, and maintaining the needed platform stability threshold for effective scanning.

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Yuan, Jianying, Qiong Wang, and Bailin Li. "A Flexile and High Precision Calibration Method for Binocular Structured Light Scanning System." Scientific World Journal 2014 (2014): 1–8. http://dx.doi.org/10.1155/2014/753932.

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3D (three-dimensional) structured light scanning system is widely used in the field of reverse engineering, quality inspection, and so forth. Camera calibration is the key for scanning precision. Currently, 2D (two-dimensional) or 3D fine processed calibration reference object is usually applied for high calibration precision, which is difficult to operate and the cost is high. In this paper, a novel calibration method is proposed with a scale bar and some artificial coded targets placed randomly in the measuring volume. The principle of the proposed method is based on hierarchical self-calibration and bundle adjustment. We get initial intrinsic parameters from images. Initial extrinsic parameters in projective space are estimated with the method of factorization and then upgraded to Euclidean space with orthogonality of rotation matrix and rank 3 of the absolute quadric as constraint. Last, all camera parameters are refined through bundle adjustment. Real experiments show that the proposed method is robust, and has the same precision level as the result using delicate artificial reference object, but the hardware cost is very low compared with the current calibration method used in 3D structured light scanning system.

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Zhao, Jianping, Yong Cheng, Gen Cai, Shengbo He, Libing Liao, Guoqiang Wu, Li Yang, and Chang Feng. "A Calibration Method for a Self-Rotating, Linear-Structured-Light Scanning, Three-Dimensional Reconstruction System Based on Plane Constraints." Sensors 21, no. 24 (December 15, 2021): 8359. http://dx.doi.org/10.3390/s21248359.

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This paper proposes a calibration method for a self-rotating, linear-structured-light (LSL) scanning, three-dimensional reconstruction system based on plane constraints. The point cloud of plane target collected by the self-rotating, LSL scanning, 3D reconstruction system should be constrained to the basic principle of the plane equation; it can quickly and accurately calibrate the position parameters between the coordinate system of the LSL module and the coordinate system of the self-rotating, LSL scanning, 3D reconstruction system. Additionally, the transformation equation could be established with the calibrated optimal position parameters. This paper obtains the above-mentioned position parameters through experiments and uses the calibrated self-rotating, LSL scanning, 3D reconstruction system to perform three-dimensional scanning and reconstruction of the test piece. The experimental results show that the calibration method can effectively improve the measurement accuracy of the system.

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Ciobanu, Octavian. "Bioengineering Applications of 3D Scanning and Reconstruction Using a Depth Sensor." Applied Mechanics and Materials 809-810 (November 2015): 920–25. http://dx.doi.org/10.4028/www.scientific.net/amm.809-810.920.

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Paper approaches some characteristics and bioengineering applications of a handheld depth sensor for low-cost 3D scanning and reconstruction. The Kinect depth sensor used in this work was launched on June 2009 and was based around a gaming webcam peripheral. The Kinect sensor uses a structured light technique in order to develop real-time 3D surfaces. The 3D model of anatomic surface may have a lot of bioengineering applications. Some observations and comparisons are presented in connection with the scanning and 3D reconstruction of different anatomic surfaces.

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Li, Zhong Wei, Chao Ma, Chun Li Liu, Cong Jun Wang, Kai Zhong, and Yu Sheng Shi. "PMP-Based Micro-3D Dental Measuring Technology." Applied Mechanics and Materials 192 (July 2012): 310–17. http://dx.doi.org/10.4028/www.scientific.net/amm.192.310.

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Based on the structured light measurement principle, digital fringes projection technology and phase-shifting measuring technology, specific to the 3D profile of some tiny objects like teeth, in this paper we proposes a 3D scanning system which was directly used for intraoral dental measurement utilizing the merits of flexible and long distance signal transmission of the fiber image bundle. The structured light is projected out from DLP LightCommander produced by Texas Instruments Company, shrunk via telecentric imaging lens, conveyed in fiber image bundle. Utilizing the transformational relation between single-camera and projector, afterwards, the 3D profile of teeth is obtained by reconstructing the acquisition images in electronic endoscope. The feasibility of this system has been testified in our experiments. It satisfies the requirements of miniaturization, directness and flexibility; expands the scope of application of micro-3D measurement with structured light in dental clinical practice.

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Liu, Jinghui, and Yuezong Wang. "3D surface reconstruction of small height object based on thin structured light scanning." Micron 143 (April 2021): 103022. http://dx.doi.org/10.1016/j.micron.2021.103022.

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Lee, Chang Hoon, Seung Jae Lee, and Moochul Shin. "Characterization of variability in 2-dimensional particle geometry via 3D structured light scanning." Transportation Geotechnics 34 (May 2022): 100760. http://dx.doi.org/10.1016/j.trgeo.2022.100760.

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Portalés, Cristina, Juan M. Orduña, and Pedro Morillo. "Parallelization of a method for dense 3D object reconstruction in structured light scanning." Journal of Supercomputing 71, no. 5 (December 28, 2014): 1857–68. http://dx.doi.org/10.1007/s11227-014-1364-x.

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Pribanić, Tomislav, Saša Mrvoš, and Joaquim Salvi. "Efficient multiple phase shift patterns for dense 3D acquisition in structured light scanning." Image and Vision Computing 28, no. 8 (August 2010): 1255–66. http://dx.doi.org/10.1016/j.imavis.2010.01.003.

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Bräuer-Burchardt, Christian, Christoph Munkelt, Ingo Gebhart, Matthias Heinze, Stefan Heist, Peter Kühmstedt, and Gunther Notni. "A-Priori Calibration of a Structured Light Underwater 3D Sensor." Journal of Marine Science and Engineering 8, no. 9 (August 20, 2020): 635. http://dx.doi.org/10.3390/jmse8090635.

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In this study, we introduce a new calibration method for underwater optical stereo scanners. It uses air calibration, additional underwater parameters, and extended camera modeling. The new methodology can be applied to both passive photogrammetric and structured light three-dimensional (3D) scanning systems. The novel camera model uses a variable principal distance depending on the radial distance to the principal point instead of two-dimensional distortion functions. This allows for an initial improvement of 3D reconstruction quality. In a second step, certain underwater-specific parameters—such as refraction indices, glass thickness, and view-port distances—are determined. Finally, a correction function for the entire measurement volume can be obtained from a few underwater measurements. Its application further improves the measurement accuracy. Measurement examples show the performance of the new calibration method in comparison to current underwater calibration strategies. A discussion of the possibilities and limits of the new calibration method and an outlook for future work complete this work.

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Jensen, Janus Nørtoft, Morten Hannemose, J. Andreas Bærentzen, Jakob Wilm, Jeppe Revall Frisvad, and Anders Bjorholm Dahl. "Surface Reconstruction from Structured Light Images Using Differentiable Rendering." Sensors 21, no. 4 (February 4, 2021): 1068. http://dx.doi.org/10.3390/s21041068.

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When 3D scanning objects, the objective is usually to obtain a continuous surface. However, most surface scanning methods, such as structured light scanning, yield a point cloud. Obtaining a continuous surface from a point cloud requires a subsequent surface reconstruction step, which is directly affected by any error from the computation of the point cloud. In this work, we propose a one-step approach in which we compute the surface directly from structured light images. Our method minimizes the least-squares error between photographs and renderings of a triangle mesh, where the vertex positions of the mesh are the parameters of the minimization problem. To ensure fast iterations during optimization, we use differentiable rendering, which computes images and gradients in a single pass. We present simulation experiments demonstrating that our method for computing a triangle mesh has several advantages over approaches that rely on an intermediate point cloud. Our method can produce accurate reconstructions when initializing the optimization from a sphere. We also show that our method is good at reconstructing sharp edges and that it is robust with respect to image noise. In addition, our method can improve the output from other reconstruction algorithms if we use these for initialization.

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Al-Saqal, Shahad A., and Ali A. Al-Temeemy. "3D Reconstruction Based on Fusing Active Structured Laser and Passive Stereo Techniques." Al-Nahrain Journal for Engineering Sciences 23, no. 3 (November 21, 2020): 277–88. http://dx.doi.org/10.29194/njes.23030277.

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Three-dimensional reconstruction of real objects comprises capturing the appearance and the shape for these objects and determining the three-dimensional coordinates for their profiles. This reconstruction process can be accomplished either by using active or passive techniques. In this paper, a new fusion method is proposed for 3D reconstruction. This method exploits the advantages of both stereo-based passive and laser-based active techniques and overcomes their limitations to improve the performance of 3D reconstruction. With this method, a hybrid laser-based structured light scanning system is designed and implemented. This system captures the required information using passive and active techniques and uses the proposed fusion method for 3D reconstruction. The performance of the proposed method and its scanning system were experimentally evaluated. The evaluation results show high reconstruction performance for the proposed fusion method over the traditional 3D reconstruction techniques. The results also show the effectiveness of the hybrid laser scanning system and its ability to scan and reconstruct the shape and the appearance for real objects using the proposed fusion method.

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Zhang, Yujia, and Alper Yilmaz. "STRUCTURED LIGHT BASED 3D SCANNING FOR SPECULAR SURFACE BY THE COMBINATION OF GRAY CODE AND PHASE SHIFTING." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B3 (June 9, 2016): 137–42. http://dx.doi.org/10.5194/isprs-archives-xli-b3-137-2016.

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Surface reconstruction using coded structured light is considered one of the most reliable techniques for high-quality 3D scanning. With a calibrated projector-camera stereo system, a light pattern is projected onto the scene and imaged by the camera. Correspondences between projected and recovered patterns are computed in the decoding process, which is used to generate 3D point cloud of the surface. However, the indirect illumination effects on the surface, such as subsurface scattering and interreflections, will raise the difficulties in reconstruction. In this paper, we apply maximum min-SW gray code to reduce the indirect illumination effects of the specular surface. We also analysis the errors when comparing the maximum min-SW gray code and the conventional gray code, which justifies that the maximum min-SW gray code has significant superiority to reduce the indirect illumination effects. To achieve sub-pixel accuracy, we project high frequency sinusoidal patterns onto the scene simultaneously. But for specular surface, the high frequency patterns are susceptible to decoding errors. Incorrect decoding of high frequency patterns will result in a loss of depth resolution. Our method to resolve this problem is combining the low frequency maximum min-SW gray code and the high frequency phase shifting code, which achieves dense 3D reconstruction for specular surface. Our contributions include: (i) A complete setup of the structured light based 3D scanning system; (ii) A novel combination technique of the maximum min-SW gray code and phase shifting code. First, phase shifting decoding with sub-pixel accuracy. Then, the maximum min-SW gray code is used to resolve the ambiguity resolution. According to the experimental results and data analysis, our structured light based 3D scanning system enables high quality dense reconstruction of scenes with a small number of images. Qualitative and quantitative comparisons are performed to extract the advantages of our new combined coding method.

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Zhang, Yujia, and Alper Yilmaz. "STRUCTURED LIGHT BASED 3D SCANNING FOR SPECULAR SURFACE BY THE COMBINATION OF GRAY CODE AND PHASE SHIFTING." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B3 (June 9, 2016): 137–42. http://dx.doi.org/10.5194/isprsarchives-xli-b3-137-2016.

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Surface reconstruction using coded structured light is considered one of the most reliable techniques for high-quality 3D scanning. With a calibrated projector-camera stereo system, a light pattern is projected onto the scene and imaged by the camera. Correspondences between projected and recovered patterns are computed in the decoding process, which is used to generate 3D point cloud of the surface. However, the indirect illumination effects on the surface, such as subsurface scattering and interreflections, will raise the difficulties in reconstruction. In this paper, we apply maximum min-SW gray code to reduce the indirect illumination effects of the specular surface. We also analysis the errors when comparing the maximum min-SW gray code and the conventional gray code, which justifies that the maximum min-SW gray code has significant superiority to reduce the indirect illumination effects. To achieve sub-pixel accuracy, we project high frequency sinusoidal patterns onto the scene simultaneously. But for specular surface, the high frequency patterns are susceptible to decoding errors. Incorrect decoding of high frequency patterns will result in a loss of depth resolution. Our method to resolve this problem is combining the low frequency maximum min-SW gray code and the high frequency phase shifting code, which achieves dense 3D reconstruction for specular surface. Our contributions include: (i) A complete setup of the structured light based 3D scanning system; (ii) A novel combination technique of the maximum min-SW gray code and phase shifting code. First, phase shifting decoding with sub-pixel accuracy. Then, the maximum min-SW gray code is used to resolve the ambiguity resolution. According to the experimental results and data analysis, our structured light based 3D scanning system enables high quality dense reconstruction of scenes with a small number of images. Qualitative and quantitative comparisons are performed to extract the advantages of our new combined coding method.

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Qu, Xue Jun, Yue Wen Song, and Yong Wang. "3D Measurement Method Based on Binocular Vision and Linear Structured Light." Advanced Materials Research 422 (December 2011): 17–23. http://dx.doi.org/10.4028/www.scientific.net/amr.422.17.

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To improve efficiency of industry inspection, measuring method of part shape which combines laser linear scanning and binocular vision is researched. In the system, two cameras are located at certain angle, and linear structured light is projected onto the part surface to produce distorted laser light stripe, which is used as measure feature curve. Ordinary planar plate is used as the calibration template in system calibration and images of serial parallel lines bundle are displayed on it which are acquired simultaneously by the camera to produce image series. Calibration parameters are divided into several parts, so as to calibration of them so that interference between different parts can be eliminated significantly. Based on above works, system calibration and reconstruction of 3D coordinate are implemented successfully. Experimental result shows our method’s feasibility and effectiveness, thus good prospect can be expected to it.

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Kersten, T. P., M. Lindstaedt, and D. Starosta. "COMPARATIVE GEOMETRICAL ACCURACY INVESTIGATIONS OF HAND-HELD 3D SCANNING SYSTEMS – AN UPDATE." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2 (May 30, 2018): 487–94. http://dx.doi.org/10.5194/isprs-archives-xlii-2-487-2018.

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Hand-held 3D scanning systems are increasingly available on the market from several system manufacturers. These systems are deployed for 3D recording of objects with different size in diverse applications, such as industrial reverse engineering, and documentation of museum exhibits etc. Typical measurement distances range from 0.5&thinsp;m to 4.5&thinsp;m. Although they are often easy-to-use, the geometric performance of these systems, especially the precision and accuracy, are not well known to many users. First geometrical investigations of a variety of diverse hand-held 3D scanning systems were already carried out by the Photogrammetry & Laser Scanning Lab of the HafenCity University Hamburg (HCU Hamburg) in cooperation with two other universities in 2016. To obtain more information about the accuracy behaviour of the latest generation of hand-held 3D scanning systems, HCU Hamburg conducted further comparative geometrical investigations using structured light systems with speckle pattern (Artec Spider, Mantis Vision PocketScan 3D, Mantis Vision F5-SR, Mantis Vision F5-B, and Mantis Vision F6), and photogrammetric systems (Creaform HandySCAN 700 and Shining FreeScan X7). In the framework of these comparative investigations geometrically stable reference bodies were used. The appropriate reference data was acquired by measurements with two structured light projection systems (AICON smartSCAN and GOM ATOS I 2M). The comprehensive test results of the different test scenarios are presented and critically discussed in this contribution.

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Yang, Xiao, Juntong Xi, Jingyu Liu, and Xiaobo Chen. "Infrared Laser Speckle Projection-Based Multi-Sensor Collaborative Human Body Automatic Scanning System." Machines 9, no. 11 (November 22, 2021): 299. http://dx.doi.org/10.3390/machines9110299.

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Human body scanning is an important means to build a digital 3D model of the human body, which is the basis for intelligent clothing production, human obesity analysis, and medical plastic surgery applications, etc. Comparing to commonly used optical scanning technologies such as laser scanning and fringe structured light, infrared laser speckle projection-based 3D scanning technology has the advantages of single-shot, simple control, and avoiding light stimulation to human eyes. In this paper, a multi-sensor collaborative digital human body scanning system based on near-infrared laser speckle projection is proposed, which occupies less than 2 m2 and has a scanning period of about 60 s. Additionally, the system calibration method and control scheme are proposed for the scanning system, and the serial-parallel computing strategy is developed based on the unified computing equipment architecture (CUDA), so as to realize the rapid calculation and automatic registration of local point cloud data. Finally, the effectiveness and time efficiency of the system are evaluated through anthropometric experiments.

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Cuesta, E., J. M. Suarez-Mendez, S. Martinez-Pellitero, J. Barreiro, B. J. Alvarez, and P. Zapico. "Metrological evaluation of Structured Light 3D scanning system with an optical feature-based gauge." Procedia Manufacturing 13 (2017): 526–33. http://dx.doi.org/10.1016/j.promfg.2017.09.078.

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Garmendia, Iker, Josu Leunda, Joseba Pujana, and Aitzol Lamikiz. "In-process height control during laser metal deposition based on structured light 3D scanning." Procedia CIRP 68 (2018): 375–80. http://dx.doi.org/10.1016/j.procir.2017.12.098.

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Catalucci, Sofia, Roberto Marsili, Michele Moretti, and Gianluca Rossi. "Point cloud processing techniques and image analysis comparisons for boat shapes measurements." ACTA IMEKO 7, no. 2 (July 4, 2018): 39. http://dx.doi.org/10.21014/acta_imeko.v7i2.543.

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Photomodelling is a new and fast solution for 3D modelling, based on the same principles of photogrammetry. The comparison between photomodelling and the metrological technique of structured light 3D scanning, provided by the Creaform Go Scan 50 with metrological certification, is the aim of this paper, defining performances and verifying the potential of this innovative, simple and economical technique.

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Rao, Zhi, Shuo Sun, Mingye Li, Xiaoqiang Ji, and Jipeng Huang. "3D Facial Plastic Surgery Simulation: Based on the Structured Light." Applied Sciences 13, no. 1 (January 3, 2023): 659. http://dx.doi.org/10.3390/app13010659.

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The 3D quantitative analysis of facial morphology is of importance in plastic surgery (PS), which could help surgeons design appropriate procedures before conducting the surgery. We propose a system to simulate and guide the shaping effect analysis, which could produce a similar but more harmonious face simulation. To this end, first, the depth camera based on structured light coding is employed for facial 3D data acquisition, from which the point cloud data of multiple facial perspectives could be obtained. Next, the cascade regression tree algorithm is used to extract the esthetic key points of the face model and to calculate the facial features composed of the key points, such as the nose, chin, and eyes. Quantitative facial esthetic indexes are offered to doctors to simulate PS. Afterward, we exploit a face mesh metamorphosis based on finite elements. We design several morphing operators, including augmentation, cutting, and lacerating. Finally, the regional deformation is detected, and the operation effect is quantitatively evaluated by registering the 3D scanning model before and after the operation. The test of our proposed system and the simulation of PS operations find that the measurement error of facial geometric features is 0.458 mm, and the area is 0.65 mm2. The ratings of the simulation outcomes provided by panels of PS prove that the system is effective. The manipulated 3D faces are deemed more beautiful compared to the original faces respecting the beauty canons such as facial symmetry and the golden ratio. The proposed algorithm could generate realistic visual effects of PS simulation. It could thus assist the preoperative planning of facial PS.

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Rangel-de Lázaro, Gizéh, Adrián Martínez-Fernández, Armando Rangel-Rivero, and Alfonso Benito-Calvo. "Shedding light on pre-Columbian crania collections through state-of-the-art 3D scanning techniques." Virtual Archaeology Review 12, no. 24 (January 19, 2021): 1. http://dx.doi.org/10.4995/var.2021.13742.

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During the 19th and 20th centuries, numerous museums, scientific societies, and royal academies were founded in Europe and America. In this scenario, the Anthropological Museum Montané was founded in Havana, Cuba. Its collection has grown over the years, thanks to researchers, antiquarians, and amateurs. Since its foundation, the Museum Montané has become an essential institution for anthropological and archaeological research in the region. Nowadays, the Museum Montané, like other museums in developing countries, faces a challenge in the introduction of state-of-the-art technologies to digitizing exhibits and the creation of innovative projects to attract visitors. The current possibilities of virtualization of cultural heritage using digital technologies have a favorable impact on the preservation, access, and management of museum collections. The use of three-dimensional (3D) models fosters engagement with visitors, stimulates new forms of learning, and revalorizes the exhibits. In the current study, we use a hand-held structured light scanner to create 3D reality-based models of pre-Columbian crania from the Caribbean and South American collection of the Anthropological Museum Montané. The resulting 3D models were used for producing 3D printing replicas and animated videos. The 3D resources derived will encourage new knowledge through research, and provide broader access to these pre-Columbian crania collection through learning and outreach activities. The significance of digitizing these specimens goes beyond the creation of 3D models. It means protecting these fragile and valuable collections for future generations. The methodology and results reported here can be used in other museums with similar collections to digitally document, study, protect, and disseminate the archaeological heritage. Going forward, we seek to continue exploring the application of novel methods and digital techniques to the study of the pre-Columbian crania collections in Latin American and the Caribbean area.Highlights:<ul><li>A hand-held structured light scanner was used to acquire 3D reality-based models of pre-Columbian crania. The 3D models resulting were used for 3D printing replicas and 3D animations.</li><li>This study provides unprecedented 3D reconstructions of pre-Columbian crania in the Caribbean area, and new 3D reconstructions of artificially deformed crania from South America.</li><li>The 3D resources created will encourage new knowledge through research, and provide broader access to these pre-Columbian crania collection through learning and outreach activities.</li></ul>

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Galushkin, Alexander Alexeevich, Sofia Lvovna Gonobobleva, Vadim Alexandrovich Parfenov, and Anton Alexandrovich Zhuravlev. "Application of 3D Scanning for Documentation and Creation of Physical Copies of Estampages." Restaurator. International Journal for the Preservation of Library and Archival Material 40, no. 1 (March 26, 2019): 1–14. http://dx.doi.org/10.1515/res-2018-0010.

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Abstract This article discusses the creation of a 3D archive and physical copies of paper reliefs (estamages). A matrix of the estampage is fabricated by the combined use of 3D scanning technology and additive technologies which can then be used for the documentation and conservation of the original estampage. In order to digitize the relief, an optical 3D scanner based on structured light was used and the processing of the 3D model is discussed in detail. Scanning data is uploaded into the microprocessor of a 3D laser printer using stereolithography technology which then creates a conservation matrix. The accuracy of relief reproduction is assessed by comparing its 3D model with 3D models of replicas obtained with the help of 3D printers. The experimental research showed that it is possible to create 3D archives and reproduction of reliefs. This approach is fundamentally new in the practice of museums and archives.

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Ji, Yijun, Qing Xia, and Zhijiang Zhang. "Fusing Depth and Silhouette for Scanning Transparent Object with RGB-D Sensor." International Journal of Optics 2017 (2017): 1–11. http://dx.doi.org/10.1155/2017/9796127.

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3D reconstruction based on structured light or laser scan has been widely used in industrial measurement, robot navigation, and virtual reality. However, most modern range sensors fail to scan transparent objects and some other special materials, of which the surface cannot reflect back the accurate depth because of the absorption and refraction of light. In this paper, we fuse the depth and silhouette information from an RGB-D sensor (Kinect v1) to recover the lost surface of transparent objects. Our system is divided into two parts. First, we utilize the zero and wrong depth led by transparent materials from multiple views to search for the 3D region which contains the transparent object. Then, based on shape from silhouette technology, we recover the 3D model by visual hull within these noisy regions. Joint Grabcut segmentation is operated on multiple color images to extract the silhouette. The initial constraint for Grabcut is automatically determined. Experiments validate that our approach can improve the 3D model of transparent object in real-world scene. Our system is time-saving, robust, and without any interactive operation throughout the process.

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Chen, Liang Chia, and Z. Q. Xu. "Innovative 3D Dental Measurement for Tooth Model Restoration." Key Engineering Materials 295-296 (October 2005): 145–50. http://dx.doi.org/10.4028/www.scientific.net/kem.295-296.145.

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This research develops an innovative free-form surface scanning system using laser triangulation for 3D dental data required for crown reconstruction. This novel design employs double laser diodes to produce two 45° structured-light lines projecting onto the plaster tooth models and three CCD cameras to capture deformed fringes to achieve fast and accurate 3D surface measurement of plaster tooth models. Effective strategies were implemented to overcome problems such as potential measurement occlusion and data registration inaccuracy, commonly encountered by other data scanning methods. The developed system has distinctive features such as laser projecting angles for complete surface measurement coverage, digitizing accuracy, and compact scanner volume for potential applications on 3D surface digitization of tiny industrial components. Experimental results verified that the proposed system achieves a 20µm digitizing accuracy and possesses fast scanning capability. Maximum one minute is used for a single-tooth model and 30 minutes are used for scanning the whole jaw.

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Zhou, Zi Qiang, and Jing Hu Yu. "Architecture for 3D Scanning Based Automatic Spraying Machine." Key Engineering Materials 464 (January 2011): 65–69. http://dx.doi.org/10.4028/www.scientific.net/kem.464.65.

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Nowadays, the generally used automatic spraying machines are only suitable for mass products or components. The usage for multi-type and small-batch products is much limited for its time and labor consuming off-line programming. So this paper present a 3D scanning based 4-axies driving automatic spraying machine to overcome the bottle-neck of programming. By the laser installed under the horizontal slid table of the machine a linear structured light is projected on the surface of the work piece. Besides, two cameras are also symmetrically installed on the side of the laser to acquire the image. The real-time images of the camera are acquired into the computer by the image acquisition board. And then a program will process the images and output the featured point of the work pieces. According to these points, a specially designed algorithm based on the spraying principle will find out the trajectory of the spraying gun. Finally, through the PCI based motion control board, the controlling pulses are sending to the controller of the stepper motor. Then the spraying gun can move along the trajectory to painting the work piece.

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HRBAL, JAKUB, JOZEF PETERKA, IVAN BURANSKY, JAN MILDE, and JOZEF MARTINOVIC. "MEASUREMENT OF THE GEOMETRY OF MANUFACTURED DRILLS USING OPTICAL SCANNING." MM Science Journal 2021, no. 6 (December 15, 2021): 5327–33. http://dx.doi.org/10.17973/mmsj.2021_12_2021128.

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This article deals with the control of the geometry of manufactured tools. The geometry of the cutting tool has a great influence on the machining process. One of the processes of manufacturing cutting tools is grinding. Grinding cutting tools is a complex process after which it is necessary to check the geometry of the tools. Five solid drilling tools were manufactured for the experiment. The measured parameters were tool diameter, helix angle, point angle, rake angle, relief angle and core diameter of the cutting tools. The geometry of the cutting tools was measured on a non-contact structured 3D scanner ATOS Triple Scan light. The measurement results were evaluated using GOM software. The scanning results were compared with the geometry measurement on an optical measuring device Zoller Genius 3s. It has been found that the use of a non-contact structured 3D scanner is suitable for checking the geometry of cutting tools. Furthermore, the article deals with the roughness arising when grinding a sintered carbide flute.

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Park, Go-Gwang, and Soon-Yong Park. "Correction of Photometric Distortion of a Micro Camera-Projector System for Structured Light 3D Scanning." Journal of Sensor Science and Technology 21, no. 2 (March 31, 2012): 96–102. http://dx.doi.org/10.5369/jsst.2012.21.2.96.

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Zhang, Ke, Minzhi Yan, Tianyu Huang, Jian Zheng, and Zhuguo Li. "3D reconstruction of complex spatial weld seam for autonomous welding by laser structured light scanning." Journal of Manufacturing Processes 39 (March 2019): 200–207. http://dx.doi.org/10.1016/j.jmapro.2019.02.010.

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Zhao, Feng, and Soo Choon Loy. "A Practical Approach to Ascertaining the Accuracy and Resolution of Post Rendered 3D Models Acquired Originally via 3D Digitization." Digital Presentation and Preservation of Cultural and Scientific Heritage 7 (September 10, 2017): 89–106. http://dx.doi.org/10.55630/dipp.2017.7.8.

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3D digitization is becoming the norm in the preservation of tangible cultural properties be it movable or immovable. In the case of mobile cultural objects, 3D models are normally acquired through non-destructive methods such as photogrammetry or 3D scanning using structured light or laser. The continuing improvements in scanning equipment which result in higher accuracy and resolution can be translated to mean higher level of 3D data acquired. At times, the quantity of 3D data of a single model can get too large and beyond what a normal workstation can process. This is where optimization comes in. However, the level of optimization will vary to suit the final purpose or usage of the 3D model. During optimization, the resulting optimized 3D model is bound to suffer from some level of data loss when compared to the original 3D model acquired directly from laser scanning. This paper discusses a practical method devised by Amber Digital Solutions in maintaining a high level of accuracy of the final optimized model for national archival purposes which requires the highest form of quality.

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Bleier, M., and A. Nüchter. "TOWARDS ROBUST SELF-CALIBRATION FOR HANDHELD 3D LINE LASER SCANNING." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W8 (November 13, 2017): 31–36. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w8-31-2017.

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This paper studies self-calibration of a structured light system, which reconstructs 3D information using video from a static consumer camera and a handheld cross line laser projector. Intersections between the individual laser curves and geometric constraints on the relative position of the laser planes are exploited to achieve dense 3D reconstruction. This is possible without any prior knowledge of the movement of the projector. However, inaccurrately extracted laser lines introduce noise in the detected intersection positions and therefore distort the reconstruction result. Furthermore, when scanning objects with specular reflections, such as glossy painted or metalic surfaces, the reflections are often extracted from the camera image as erroneous laser curves. In this paper we investiagte how robust estimates of the parameters of the laser planes can be obtained despite of noisy detections.

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Journal articles on the topic 'Structured light 3D scanning'

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