Abstract
Abstract. By offering fast and flexible solutions to create 3D models, handheld scanners are currently under the focus of many research activities in various 3D data processing fields. The real-time constraint is still challenging to achieve especially when it comes with concurrent needs, such as level of accuracy in the data acquisition, easiness of recovering from scanning interruptions or loop closure abilities... Among them, object/scene tracking quality is one of the most critical. In this work, we describe two issues that affects its performance, focusing on the robustness of the process. Specifically, we encounter such issues at to two different steps while moving through the working pipeline of a prototype handheld scanner, i.e. (1) the data pre-processing before running a pairwise alignment between a frame and the model representation, called key-frame, and (2) the temporal and quality criteria that govern key-frame updates. Our approach simply consists in substituting the use of a rigid (uniform) pattern for sampling, with a random distribution of points. We then implement an adaptive statistical method to select suitable timing steps for key-frames refreshing, comparing this solution with a previous static one based on regular updating rate. We run experiments on a dataset created with our own scanner and we show that the adoption of such alternatives reduce the number of tracking failures, consequently increasing the robustness of the system, improving the quality of the alignments and preserving the real-time behavior of the device.
Highlights
In a classic 3D scanning and modeling workflow, the amount of generated data and computational needs make the reconstruction of the 3D model to take place asynchronously and delayed with respect to acquisitions
The flexibility introduced by real-time scanners can be exploited adjusting the scanning on-the-fly, to avoid the frustrating situation of finding poorly represented or lacking parts in the model only after post-processing
This can prevent unwanted waste of time or even the worst case of information loss due to some unfeasibility of measure repetition. This is why the interest and the availability of real-time scanners is increasing in many fields, such as construction industry and civil engineering, robotics, geomatics, design process, reverse engineering, quality assurance and industrial metrology, cultural heritage, entertainment, medical CAD/CAM
Summary
In a classic 3D scanning and modeling workflow, the amount of generated data and computational needs make the reconstruction of the 3D model to take place asynchronously and delayed with respect to acquisitions. Increasingly powerful and affordable processors come on the market one after the other, de facto enabling 3D reconstructions in a real-time fashion This cannot be considered a selfdriving progress, since modern 3D reconstruction applications require solutions characterized by unprecedented degrees of responsiveness, robustness, accuracy and flexibility. The flexibility introduced by real-time scanners can be exploited adjusting the scanning on-the-fly, to avoid the frustrating situation of finding poorly represented or lacking parts in the model only after post-processing. This can prevent unwanted waste of time or even the worst case of information loss due to some unfeasibility of measure repetition. We identify and propose solutions for two criticalities that emerge from a low-complexity real-time (a) Setup (b) InSight CAD
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