| Issue |
MATEC Web of Conferences
Volume 32, 2015
International Symposium of Optomechatronics Technology (ISOT 2015)
|
|
|---|---|---|
| Article Number | 06004 | |
| Number of page(s) | 5 | |
| Section | Optomechatronics sensing and robotics | |
| DOI | https://doi.org/10.1051/matecconf/20153206004 | |
| Published online | 02 December 2015 | |
A multi-view stereo based 3D hand-held scanning system using visual-inertial navigation and structured light
1 School of Electronics Engineering, IT College, Kyungpook National University, 1370 Sankyuk-dong, Buk-gu, Daegu, 702-701 Korea
2 Research Center for Neurosurgical Robotic System, Kyungpook National University, 1370 Sankyuk-dong, Buk-gu, Daegu, 702-701 Korea
3 Production Engineering Research Institute(PRI), LG Electronics, LG-ro 222, Jinwi-myeon, Pyeongtaek 451-713, Korea
a Corresponding author: mykim@ee.knu.ac.kr
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.
© Owned by the authors, published by EDP Sciences, 2015
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