Abstract
3 Production Engineering Research Institute(PRI), LG Electronics, LG-ro 222, Jinwi-myeon, Pyeongtaek 451-713, Korea Abstract. This paper describes the implementation of a 3D handheld scanning system based on visual inertial pose estimation and structured light technique.3D scanning system is composed of stereo camera, inertial navigation system (INS) and illumination projector to collect high resolution data for close range applications. The proposed algorithm for visual pose estimation is either based on feature matching or using accurate target object. The integration of INS enables the scanning system to provide the fast and reliable pose estimation supporting visual pose estimates. Block matching algorithm was used to render two view 3D reconstruction. For multiview 3D approach, rough registration and final alignment of point clouds using iterative closest point algorithm further improves the scanning accuracy. The proposed system is potentially advantageous for the generation of 3D models in bio-medical applications.
Highlights
Three dimensional measurements is well known in computer vision due to its applications in several areas such as medical and scientific imaging, industrial inspection and recognition, reverse engineering and 3D map building etc. 3D sensing systems may be generally categorized into contact and non-contact techniques
This paper describes the implementation of a 3D handheld scanning system based on visual inertial pose estimation and structured light technique.3D scanning system is composed of stereo camera, inertial navigation system (INS) and illumination projector to collect high resolution data for close range applications
Passive technique constitutes the scene imaged by digital cameras from two or more viewpoints and poses correspondence problem due to the absence of strong texture on the surface of 3D object [3].To cope with this problem, active technique based on structured light was employed to create artificial texture on the surface of 3D objects [4]. 3D sensing systems based on structured light may be categorized into two types, camera-projector system and stereo camera with non-calibrated projector [5, 6].The comparison of passive stereo, camera projector system and stereo camera with non-calibrated projector was described in [6].Structured light techniques can be classified into sequential or single shot techniques and single shot technique is commonly employed for the moving 3D object with stringent constraint on the acquisition time[7]
Summary
Three dimensional measurements is well known in computer vision due to its applications in several areas such as medical and scientific imaging, industrial inspection and recognition, reverse engineering and 3D map building etc. 3D sensing systems may be generally categorized into contact and non-contact techniques. Several researchers employed robotic manipulators, passive arms, turntables and electromagnetic devices to accomplish 3D handheld scanning, but these devices restrict the user’s mobility and need accurate external hand-eye calibration but these external positioning systems are considered to be the largest and most expensive part of 3D sensing systems [9].Despite various advantages of digital camera, the geometric and perspective geometry issues entangles the geometric information obtained from cameras making it hard to get real time pose estimations solely from image sensors and user may overcome these issues using inertial measurement unit (IMU) or inertial navigation system (INS) which is a better solution to digital camera in term of measuring rate and temporal precision [8].The purpose of INS is to estimate the relative pose and position of the system between different viewpoints and accomplish the multiview registration using these parameters [10,11].For visual inertial navigation, both the visual and inertial pose may be fused either in time or stochastically and one sensor may
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