DOCSLIB.ORG

Development of a Wide Area 3D Scanning System with a Rotating Line Laser

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Development of a Wide Area 3D Scanning System with a Rotating Line Laser sensors Article Development of a Wide Area 3D Scanning System with a Rotating Line Laser Jaeho Lee 1,†, Hyunsoo Shin 1,† and Sungon Lee 2,* 1 Department of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, Korea; [email protected] (J.L.); [email protected] (H.S.) 2 School of Electrical Engineering, Hanyang University, Ansan 15588, Korea * Correspondence: [email protected]; Tel.: +82-31-400-5174 † These authors contributed equally to this work. Abstract: In a 3D scanning system, using a camera and a line laser, it is critical to obtain the exact geometrical relationship between the camera and laser for precise 3D reconstruction. With existing depth cameras, it is difficult to scan a large object or multiple objects in a wide area because only a limited area can be scanned at a time. We developed a 3D scanning system with a rotating line laser and wide-angle camera for large-area reconstruction. To obtain 3D information of an object using a rotating line laser, we must be aware of the plane of the line laser with respect to the camera coordinates at every rotating angle. This is done by estimating the rotation axis during calibration and then by rotating the laser at a predefined angle. Therefore, accurate calibration is crucial for 3D reconstruction. In this study, we propose a calibration method to estimate the geometrical relationship between the rotation axis of the line laser and the camera. Using the proposed method, we could accurately estimate the center of a cone or cylinder shape generated while the line laser was rotating. A simulation study was conducted to evaluate the accuracy of the calibration. In the experiment, we compared the results of the 3D reconstruction using our system and a commercial depth camera. The results show that the precision of our system is approximately 65% higher for plane reconstruction, Citation: Lee, J.; Shin, H.; Lee, S. and the scanning quality is also much better than that of the depth camera. Development of a Wide Area 3D Scanning System with a Rotating Line Keywords: 3D reconstruction; laser-camera calibration; triangulation Laser. Sensors 2021, 21, 3885. https:// doi.org/10.3390/s21113885 Academic Editor: Bijan Shirinzadeh 1. Introduction Today, many application fields require technology for 3D modeling of real-world Received: 6 May 2021 objects, such as design and construction of augmented reality (AR), quality verification, Accepted: 1 June 2021 Published: 4 June 2021 the restoration of lost CAD data, heritage scanning, surface deformation tracking, 3D reconstruction for object recognition and so on [1–7]. Among the non-contact scanning Publisher’s Note: MDPI stays neutral methods, the method using a camera and a line laser is widely used because the scanning with regard to jurisdictional claims in speed is relatively fast and there is no damage to the object [8,9]. There are two methods published maps and institutional affil- for measuring the distance with the laser: the laser triangulation (LT) method and the iations. time-of-flight (ToF) method. The LT method is slower but it has more precise results than the ToF method [10]. However, both methods have relatively small measurable zones. They scan a point or a line, at most, a narrow region at a time. A laser range finder (LRF) was developed to overcome this limitation. It extends the scan area by rotating the light source [11]. The scan area can be further increased by rotating the LRF. Recently, various Copyright: © 2021 by the authors. Licensee MDPI, Basel, Switzerland. methods for estimating the rotation axis of the LRF have been studied to obtain a 3D depth This article is an open access article map of the environment [12–22]. distributed under the terms and In this study, an LT system with a rotating line laser and wide-angle camera was conditions of the Creative Commons proposed as shown in Figure1. We only rotate the line laser, not the entire system, to scan a Attribution (CC BY) license (https:// wide area. Rotating a laser is easy because the line laser is light, leading to a simple system. creativecommons.org/licenses/by/ We do not need to rotate the camera because it already has a wide field of view with a 4.0/). proper lens (e.g., fish-eye lens). Sensors 2021, 21, 3885. https://doi.org/10.3390/s21113885 https://www.mdpi.com/journal/sensors Sensors 2021, 21, x FOR PEER REVIEW 2 of 14 Sensors 2021, 21, 3885 2 of 14 system. We do not need to rotate the camera because it already has a wide field of view withWith a proper this lens setup, (e.g the., fish first-eye step lens). is to precisely estimate this rotation axis with respect to theWith camera this setup coordinates,, the first step to measure is to precisely the depth estimate of anthis object rotation using axis with triangulation respect to [23]. Owingthe camera to various coordinates reasons,, to measure such asthe the dep fabricationth of an object error using of triangulation mechanical parts,[23]. Owing linelaser misalignmentto various reasons to the, such rotation as the axis, fabrication line laser error optical of mechanical properties, parts, and line so on, laser the misalign- rotation axis ofment the to line the laser rotation is somewhat axis, line laser different optical from propert the idealies, and CAD so on design., the rotation However, axis thisof the axis is preciselyline laser is measured somewhat to different obtain accuratefrom the 3Dideal information CAD design. from However, the LT this method. axis is precisely In this paper, wemeasured propose to a obtain novel calibrationaccurate 3D between information the camerafrom the coordinate LT method system. In this and paper the, rotatingwe pro- line laserpose coordinatea novel calibration system between using a the cone camera model. coordinat Findinge system the axis and of the rotation rotating with line respect laser to thecoordinate camera system coordinate using system a cone is model the key. Finding for accurate the axis calibration. of rotation We with noticed respect that to thethe cone shapecamera is coordinate always created system while is the the key plane for accurate of the line calibration. laser rotates We aboutnoticed the that rotation the cone axis of theshape motor is always due to created inevitable while imperfect the plane of alignment the line laser between rotate thes about line the laser rotation and the axis rotating of axis.the motor Therefore, due to we inevitable estimate imperfect the axis ofalignment rotation between using the the cone linemodel laser and because the rotating the central axis. Therefore, we estimate the axis of rotation using the cone model because the central axis of the cone and the rotation axis of the motor are same. The cone model enables us to axis of the cone and the rotation axis of the motor are same. The cone model enables us to estimate the rotation axis accurately leading to improved calibration results. In summary, estimate the rotation axis accurately leading to improved calibration results. In summary, our contribution is to propose a cone model for an accurate calibration between the camera our contribution is to propose a cone model for an accurate calibration between the cam- and the rotating line laser resulting in an accurate and wide 3D scanning system. era and the rotating line laser resulting in an accurate and wide 3D scanning system. Figure 1. Three dimensional (3D) reconstruction using our system, (a) setup of the system, (b) recon- Figure 1. Three dimensional (3D) reconstruction using our system, (a) setup of the system, (b) re- structionconstruction results. results. TheThe rest of of Section Section 11 definesdefines the the notation notation and and coordinate coordinate system, system, and and Section Section 2 intro-2 intro- ducesduces the schematic diagram diagram of of the the system system and and the the calibration calibration process. process. In Section In Section 3, the3, the triangulationtriangulation method method through through the the line line-plane-plane intersection intersection is described, is described, andand the calibration the calibration betweenbetween the fixed fixed line line laser laser and and camera, camera, and and the the calibration calibration between between the rotating the rotating line laser line laser andand cameracamera are explained. explained. In In Section Section 4,4 the, the calibration calibration accuracy accuracy according according to the to therotation rotation axisaxis ofof the line laser laser is is evaluated, evaluated, and and the the 3D 3D reconstruction reconstruction results results of the of theRGB RGB-D-D camera camera andand thisthis system are are compared. compared. Then, Then, the the accuracy accuracy of ofthe the 3D 3Ddepth depth estimation estimation is analyzed is analyzed usingusing a planar model. model. Finally, Finally, the the conclusions conclusions are are presented presented in Section in Section 5. 5. 2.2. OverallOverall System 2.1.2.1. HardwareHardware OurOur scanning system system has has a aline line laser laser fixed fixed to toa motor a motor and and a camera a camera with with an infrared an infrared ◦ (IR)(IR) filter,filter, as shown shown in in Figure Figure 2.2 The. The line line laser laser used used in our in system our system has 90 has° fan 90 anglesfan at angles 850 at 850nm nmwavelength wavelength (FLEXPOINT (FLEXPOINT MVnano, MVnano, Laser Components, Laser Components, Bedford, Bedford, NH, USA). NH, We USA). de- We designedsigned a mount a mount that that can can fix fixand and adjust adjust the theorientation orientation of the of theline linelaser. laser. ThisThis mount mount has has twotwo degreesdegrees ofof freedomfreedom rotating about pitch pitch and and roll roll axes.
Load more

Recommended publications
  • Image-Based 3D Reconstruction: Neural Networks Vs. Multiview Geometry
    Image-based 3D Reconstruction: Neural Networks vs. Multiview Geometry Julius Schoning¨ and Gunther Heidemann Institute of Cognitive Science, Osnabruck¨ University, Osnabruck,¨ Germany Email: fjuschoening,[email protected] Abstract—Methods using multiple view geometry (MVG), like algorithms, guarantee linear processing time, even in cases Structure from Motion (SfM), are still the dominant approaches where the number and resolution of the input images make for image-based 3D reconstruction. These reconstruction methods MVG-based approaches infeasible. have become quite robust and accurate. However, how robust and accurate can artificial neural networks (ANNs) reconstruct For the research if the underlying mathematical principle a priori unknown 3D objects? Exceed the restriction of object of MVG can be learned by ANNs, datasets like ShapeNet categories this paper evaluates ANNs for reconstructing arbitrary [9] and ModelNet40 [10] cannot be used hence they en- 3D objects. With the use of a synthetic scalable cube dataset for code object categories such as planes, chairs, tables. The training, testing and validating ANNs, it is shown that ANNs are needed dataset must not have shape priors of object cat- capable of learning mathematical principles of 3D reconstruction. As inspiration for the design of the different ANNs architectures, egories, and also, it must be scalable in its complexity the global, hierarchical, and incremental key-point matching for providing a large body of samples with ground truth strategies of SfM approaches were taken into account. Based data, ensuring the learning of even deep ANN. For this on these benchmarks and a review of the used dataset, it is reason, we are using the synthetic scalable cube dataset [11], shown that voxel-based 3D reconstruction cannot be scaled.
    [Show full text]
  • 3D Laser Scanning Technology Benefits Pipeline Design
    3D Laser Scanning Technology Benefits Pipeline Design Author: Michael Garvey, EN Engineering, LLC The primary benefits The World Isn’t Flat realized by EN The prolific Greek mathematician and geographer Eratosthenes came to Engineering relate understand that the world wasn’t flat when he calculated the circumference of the earth in the third century BC. Portuguese explorer, Ferdinand Magellan — to brownfield sites 1,800 years later — again reminded us that the earth was not flat when his fleet where pipeline and successfully circumnavigated the globe in 1522 AD. Awareness that the earth is facilities already exist. not flat has existed for centuries, yet we continue to constrain our engineering design efforts to two dimensions. The world consists of three dimensions and we have reached a point where engineering, design and planning should follow suit. 3D Laser Scanning provides a highly accessible tool that now enables engineers and designers to think, design and evaluate intuitively in a three-dimensional world with even greater ease. This article will explore the application and benefits of 3D Laser Scanning technology with gas and oil pipelines. What Is 3D Laser Scanning? 3D Laser Scanning is a terrestrial-based data acquisition system that captures high-density 3D geospatial data from large-scale, complex entities. Laser scanners are non-contact devices that incorporate two components for data capture: a laser and a camera as shown in Figure 1. A Class 3R1 laser scans all physical components in its field of view and assigns an XYZ coordinate to each captured Originally published in: Pipeline & Gas Journal point. The laser records the relative position of everything in view, capturing nearly October 2012 / www.pipelineandgasjournal.com 1 million data points per second1.
    [Show full text]
  • 3D Scanner Accuracy, Performance and Challenges with a Low Cost 3D Scanning Platform
    DEGREE PROJECT IN TECHNOLOGY, FIRST CYCLE, 15 CREDITS STOCKHOLM, SWEDEN 2017 3d scanner Accuracy, performance and challenges with a low cost 3d scanning platform JOHAN MOBERG KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF INDUSTRIAL ENGINEERING AND MANAGEMENT 1 Accuracy, performance and challenges with a low cost 3d scanning platform JOHAN MOBERG Bachelor’s Thesis at ITM Supervisor: Didem Gürdür Examiner: Nihad Subasic TRITA MMK 2017:22 MDAB 640 2 Abstract 3d scanning of objects and the surroundings have many practical uses. During the last decade reduced cost and increased performance has made them more accessible to larger consumer groups. The price point is still however high, where popular scanners are in the price range 30,000 USD-50,000 USD. The objective of this thesis is to investigate the accuracy and limitations of time-of-flight laser scanners and compare them to the results acquired with a low cost platform constructed with consumer grade parts. For validation purposes the constructed 3d scanner will be put through several tests to measure its accuracy and ability to create realistic representations of its environment. The constructed demonstrator produced significantly less accurate results and scanning time was much longer compared to a popular competitor. This was mainly due to the cheaper laser sensor and not the mechanical construction itself. There are however many applications where higher accuracy is not essential and with some modifications, a low cost solution could have many potential use cases, especially since it only costs 1% of the compared product. 3 Referat 3d skanning av föremål och omgivningen har många praktiska användningsområden.
    [Show full text]
  • Amodal 3D Reconstruction for Robotic Manipulation Via Stability and Connectivity
    Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity William Agnew, Christopher Xie, Aaron Walsman, Octavian Murad, Caelen Wang, Pedro Domingos, Siddhartha Srinivasa University of Washington fwagnew3, chrisxie, awalsman, ovmurad, wangc21, pedrod, [email protected] Abstract: Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D re- construction techniques optimize for visual reconstruction fidelity, typically mea- sured by chamfer distance or voxel IOU. We find that when applied to realis- tic, cluttered robotics environments, these systems produce reconstructions with low physical realism, resulting in poor task performance when used for model- based control. We propose ARM, an amodal 3D reconstruction system that in- troduces (1) a stability prior over object shapes, (2) a connectivity prior, and (3) a multi-channel input representation that allows for reasoning over relationships between groups of objects. By using these priors over the physical properties of objects, our system improves reconstruction quality not just by standard vi- sual metrics, but also performance of model-based control on a variety of robotics manipulation tasks in challenging, cluttered environments. Code is available at github.com/wagnew3/ARM. Keywords: 3D Reconstruction, 3D Vision, Model-Based 1 Introduction Manipulating previously unseen objects is a critical functionality for robots to ubiquitously function in unstructured environments. One solution to this problem is to use methods that do not rely on explicit 3D object models, such as model-free reinforcement learning [1,2]. However, quickly generalizing learned policies across wide ranges of tasks and objects remains an open problem.
    [Show full text]
  • A Calibration Method for a Laser Triangulation Scanner Mounted on a Robot Arm for Surface Mapping
    sensors Article A Calibration Method for a Laser Triangulation Scanner Mounted on a Robot Arm for Surface Mapping Gerardo Antonio Idrobo-Pizo 1, José Maurício S. T. Motta 2,* and Renato Coral Sampaio 3 1 Faculty of Gama-FGA, Department Electronics Engineering, University of Brasilia, Brasilia-DF 72.444-240, Brazil; [email protected] 2 Faculty of Technology-FT, Department of Mechanical and Mechatronics Engineering, University of Brasilia, Brasilia-DF 70910-900, Brazil 3 Faculty of Gama-FGA, Department Software Engineering, University of Brasilia, Brasilia-DF 72.444-240, Brazil; [email protected] * Correspondence: [email protected]; Tel.: +55-61-3107-5693 Received: 13 February 2019; Accepted: 12 March 2019; Published: 14 April 2019 Abstract: This paper presents and discusses a method to calibrate a specially built laser triangulation sensor to scan and map the surface of hydraulic turbine blades and to assign 3D coordinates to a dedicated robot to repair, by welding in layers, the damage on blades eroded by cavitation pitting and/or cracks produced by cyclic loading. Due to the large nonlinearities present in a camera and laser diodes, large range distances become difficult to measure with high precision. Aiming to improve the precision and accuracy of the range measurement sensor based on laser triangulation, a calibration model is proposed that involves the parameters of the camera, lens, laser positions, and sensor position on the robot arm related to the robot base to find the best accuracy in the distance range of the application. The developed sensor is composed of a CMOS camera and two laser diodes that project light lines onto the blade surface and needs image processing to find the 3D coordinates.
    [Show full text]
  • Stereoscopic Vision System for Reconstruction of 3D Objects
    International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 18 (2018) pp. 13762-13766 © Research India Publications. http://www.ripublication.com Stereoscopic Vision System for reconstruction of 3D objects Robinson Jimenez-Moreno Professor, Department of Mechatronics Engineering, Nueva Granada Military University, Bogotá, Colombia. Javier O. Pinzón-Arenas Research Assistant, Department of Mechatronics Engineering, Nueva Granada Military University, Bogotá, Colombia. César G. Pachón-Suescún Research Assistant, Department of Mechatronics Engineering, Nueva Granada Military University, Bogotá, Colombia. Abstract applications of mobile robotics, for autonomous anthropomorphic agents [9] or not, require reducing costs and The present work details the implementation of a stereoscopic using free software for their development. Which, by means of 3D vision system, by means of two digital cameras of similar laser systems or mono-camera, does not allow to obtain a characteristics. This system is based on the calibration of the reduction in price or analysis of adequate depth. two cameras to find the intrinsic and extrinsic parameters of the same in order to use projective geometry to find the disparity The system proposed in this article presents a system of between the images taken by each camera with respect to the reconstruction with stereoscopic pair, i.e. two cameras that will same scene. From the disparity, it is obtained the depth map capture the scene from their own perspective allowing, by that will allow to find the 3D points that are part of the means of projective geometry, to establish point reconstruction of the scene and to recognize an object clearly correspondences in the scene to find the calibration matrices of in it.
    [Show full text]
  • Configurable 3D Scene Synthesis and 2D Image Rendering with Per-Pixel Ground Truth Using Stochastic Grammars
    International Journal of Computer Vision https://doi.org/10.1007/s11263-018-1103-5 Configurable 3D Scene Synthesis and 2D Image Rendering with Per-pixel Ground Truth Using Stochastic Grammars Chenfanfu Jiang1 · Siyuan Qi2 · Yixin Zhu2 · Siyuan Huang2 · Jenny Lin2 · Lap-Fai Yu3 · Demetri Terzopoulos4 · Song-Chun Zhu2 Received: 30 July 2017 / Accepted: 20 June 2018 © Springer Science+Business Media, LLC, part of Springer Nature 2018 Abstract We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of photorealistic 2D images thereof, with associated ground truth information, for the purposes of training, bench- marking, and diagnosing learning-based computer vision and robotics algorithms. In particular, we devise a learning-based pipeline of algorithms capable of automatically generating and rendering a potentially infinite variety of indoor scenes by using a stochastic grammar, represented as an attributed Spatial And-Or Graph, in conjunction with state-of-the-art physics- based rendering. Our pipeline is capable of synthesizing scene layouts with high diversity, and it is configurable inasmuch as it enables the precise customization and control of important attributes of the generated scenes. It renders photorealistic RGB images of the generated scenes while automatically synthesizing detailed, per-pixel ground truth data, including visible surface depth and normal, object identity, and material information (detailed to object parts), as well as environments (e.g., illuminations and camera viewpoints). We demonstrate the value of our synthesized dataset, by improving performance in certain machine-learning-based scene understanding tasks—depth and surface normal prediction, semantic segmentation, reconstruction, etc.—and by providing benchmarks for and diagnostics of trained models by modifying object attributes and scene properties in a controllable manner.
    [Show full text]
  • Interacting with Autostereograms
    See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/336204498 Interacting with Autostereograms Conference Paper · October 2019 DOI: 10.1145/3338286.3340141 CITATIONS READS 0 39 5 authors, including: William Delamare Pourang Irani Kochi University of Technology University of Manitoba 14 PUBLICATIONS 55 CITATIONS 184 PUBLICATIONS 2,641 CITATIONS SEE PROFILE SEE PROFILE Xiangshi Ren Kochi University of Technology 182 PUBLICATIONS 1,280 CITATIONS SEE PROFILE Some of the authors of this publication are also working on these related projects: Color Perception in Augmented Reality HMDs View project Collaboration Meets Interactive Spaces: A Springer Book View project All content following this page was uploaded by William Delamare on 21 October 2019. The user has requested enhancement of the downloaded file. Interacting with Autostereograms William Delamare∗ Junhyeok Kim Kochi University of Technology University of Waterloo Kochi, Japan Ontario, Canada University of Manitoba University of Manitoba Winnipeg, Canada Winnipeg, Canada [email protected] [email protected] Daichi Harada Pourang Irani Xiangshi Ren Kochi University of Technology University of Manitoba Kochi University of Technology Kochi, Japan Winnipeg, Canada Kochi, Japan [email protected] [email protected] [email protected] Figure 1: Illustrative examples using autostereograms. a) Password input. b) Wearable e-mail notification. c) Private space in collaborative conditions. d) 3D video game. e) Bar gamified special menu. Black elements represent the hidden 3D scene content. ABSTRACT practice. This learning effect transfers across display devices Autostereograms are 2D images that can reveal 3D content (smartphone to desktop screen). when viewed with a specific eye convergence, without using CCS CONCEPTS extra-apparatus.
    [Show full text]
  • A Residual Network and FPGA Based Real-Time Depth Map Enhancement System
    entropy Article A Residual Network and FPGA Based Real-Time Depth Map Enhancement System Zhenni Li 1, Haoyi Sun 1, Yuliang Gao 2 and Jiao Wang 1,* 1 College of Information Science and Engineering, Northeastern University, Shenyang 110819, China; [email protected] (Z.L.); [email protected] (H.S.) 2 College of Artificial Intelligence, Nankai University, Tianjin 300071, China; [email protected] * Correspondence: [email protected] Abstract: Depth maps obtained through sensors are often unsatisfactory because of their low- resolution and noise interference. In this paper, we propose a real-time depth map enhancement system based on a residual network which uses dual channels to process depth maps and intensity maps respectively and cancels the preprocessing process, and the algorithm proposed can achieve real- time processing speed at more than 30 fps. Furthermore, the FPGA design and implementation for depth sensing is also introduced. In this FPGA design, intensity image and depth image are captured by the dual-camera synchronous acquisition system as the input of neural network. Experiments on various depth map restoration shows our algorithms has better performance than existing LRMC, DE-CNN and DDTF algorithms on standard datasets and has a better depth map super-resolution, and our FPGA completed the test of the system to ensure that the data throughput of the USB 3.0 interface of the acquisition system is stable at 226 Mbps, and support dual-camera to work at full speed, that is, 54 fps@ (1280 × 960 + 328 × 248 × 3). Citation: Li, Z.; Sun, H.; Gao, Y.; Keywords: depth map enhancement; residual network; FPGA; ToF Wang, J.
    [Show full text]
  • 3D Scene Reconstruction from Multiple Uncalibrated Views
    3D Scene Reconstruction from Multiple Uncalibrated Views Li Tao Xuerong Xiao [email protected] [email protected] Abstract aerial photo filming. The 3D scene reconstruction applications such as Google Earth allow people to In this project, we focus on the problem of 3D take flight over entire metropolitan areas in a vir- scene reconstruction from multiple uncalibrated tually real 3D world, explore 3D tours of build- views. We have studied different 3D scene recon- ings, cities and famous landmarks, as well as take struction methods, including Structure from Mo- a virtual walk around natural and cultural land- tion (SFM) and volumetric stereo (space carv- marks without having to be physically there. A ing and voxel coloring). Here we report the re- computer vision based reconstruction method also sults of applying these methods to different scenes, allows the use of rich image resources from the in- ranging from simple geometric structures to com- ternet. plicated buildings, and will compare the perfor- In this project, we have studied different 3D mances of different methods. scene reconstruction methods, including Struc- ture from Motion (SFM) method and volumetric 1. Introduction stereo (space carving and voxel coloring). Here we report the results of applying these methods to 3D reconstruction from multiple images is the different scenes, ranging from simple geometric creation of three-dimensional models from a set of structures to complicated buildings, and will com- images. It is the reverse process of obtaining 2D pare the performances of different methods. images from 3D scenes. In recent decades, there is an important demand for 3D content for com- 2.
    [Show full text]
  • 3D Laser Scanning for Heritage Advice and Guidance on the Use of Laser Scanning in Archaeology and Architecture Summary
    3D Laser Scanning for Heritage Advice and Guidance on the Use of Laser Scanning in Archaeology and Architecture Summary The first edition of 3D Laser Scanning for Heritage was published in 2007 and originated from the Heritage3D project that in 2006 considered the development of professional guidance for laser scanning in archaeology and architecture. Publication of the second edition in 2011 continued the aims of the original document in providing updated guidance on the use of three-dimensional (3D) laser scanning across the heritage sector. By reflecting on the technological advances made since 2011, such as the speed, resolution, mobility and portability of modern laser scanning systems and their integration with other sensor solutions, the guidance presented in this third edition should assist archaeologists, conservators and other cultural heritage professionals unfamiliar with the approach in making the best possible use of this now highly developed technique. This document has been prepared by Clive Boardman MA MSc FCInstCES FRSPSoc of Imetria Ltd/University of York and Paul Bryan BSc FRICS.This edition published by Historic England, January 2018. All images in the main text © Historic England unless otherwise stated. Please refer to this document as: Historic England 2018 3D Laser Scanning for Heritage: Advice and Guidance on the Use of Laser Scanning in Archaeology and Architecture. Swindon. Historic England. HistoricEngland.org.uk/advice/technical-advice/recording-heritage/ Front cover: The Iron Bridge is Britain’s best known industrial monument and is situated in Ironbridge Gorge on the River Severn in Shropshire. Built between 1779 and 1781, it is 30m high and the first in the world to use cast iron construction on an industrial scale.
    [Show full text]
  • Deep Learning Whole Body Point Cloud Scans from a Single Depth Map
    Deep Learning Whole Body Point Cloud Scans from a Single Depth Map Nolan Lunscher John Zelek University of Waterloo University of Waterloo 200 University Ave W. 200 University Ave W. [email protected] [email protected] Abstract ture the complete 3D structure of an object or person with- out the need for the machine or operator to necessarily be Personalized knowledge about body shape has numerous an expert at how to take every measurement. Scanning also applications in fashion and clothing, as well as in health has the benefit that all possible measurements are captured, monitoring. Whole body 3D scanning presents a relatively rather than only measurements at specific points [27]. simple mechanism for individuals to obtain this information Beyond clothing, understanding body measurements and about themselves without needing much knowledge of an- shape can provide details about general health and fitness. thropometry. With current implementations however, scan- In recent years, products such as Naked1 and ShapeScale2 ning devices are large, complex and expensive. In order to have begun to be released with the intention of capturing 3D make such systems as accessible and widespread as pos- information about a person, and calculating various mea- sible, it is necessary to simplify the process and reduce sures such as body fat percentage and muscle gains. The their hardware requirements. Deep learning models have technologies can then be used to monitor how your body emerged as the leading method of tackling visual tasks, in- changes overtime, and offer detailed fitness tracking. cluding various aspects of 3D reconstruction. In this paper Depth map cameras and RGBD cameras, such as the we demonstrate that by leveraging deep learning it is pos- XBox Kinect or Intel Realsense, have become increasingly sible to create very simple whole body scanners that only popular in 3D scanning in recent years, and have even made require a single input depth map to operate.
    [Show full text]