In-hand scanning with online loop closure
- 1 September 2009
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops
- p. 1630-1637
- https://doi.org/10.1109/iccvw.2009.5457479
Abstract
We present a complete 3D in-hand scanning system that allows users to scan objects by simply turning them freely in front of a real-time 3D range scanner. The 3D object model is reconstructed online as a point cloud by registering and integrating the incoming 3D patches with the online 3D model. The accumulation of registration errors leads to the well-known loop closure problem. We address this issue already during the scanning session by distorting the object as rigidly as possible. Scanning errors are removed by explicitly handling outliers. As a result of our proposed online modeling and error handling procedure, the online model is of sufficiently high quality to serve as the final model. Thus, no additional post-processing is required which might lead to artifacts in the model reconstruction. We demonstrate our approach on several difficult real-world objects and quantitatively evaluate the resulting modeling accuracy.Keywords
This publication has 23 references indexed in Scilit:
- Accurate and robust registration for in-hand modelingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2008
- Algebraic point set surfacesACM Transactions on Graphics, 2007
- Adaptive Scanning for Online 3D Model AcquisitionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- High-Resolution, Real-time 3D Shape AcquisitionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A unified representation for interactive 3D modelingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Fully automatic registration of multiple 3D data setsImage and Vision Computing, 2003
- The 3D Model Acquisition PipelineComputer Graphics Forum, 2002
- Geometric fusion for a hand-held 3D sensorMachine Vision and Applications, 2000
- Implicit Surface-Based Geometric FusionComputer Vision and Image Understanding, 1998
- A method for registration of 3-D shapesIEEE Transactions on Pattern Analysis and Machine Intelligence, 1992