REPUBLIC OF TURKEY FIRAT UNIVERSITY THE GRADUATE SHCHOOL OF NATURAL AND APPLIED SCIENCES DESIGN OF A FAST 3D SCANNER Zardasht Abdulaziz Abdulkarim SHWANY (142129105) Master Thesis Department: Computer Engineering Supervisor : Prof. Dr. Erhan AKIN February-2017 I ACKNOWLEDGMENT First of all, my thanks are addressed to GOD for inspiring me with patience and strength to fulfill the study. Deepest gratitude with great respect is due to my Supervisor Prof. Dr. Erhan AKIN for his continuous encouragement, endless patience, precious remarks, and professional advice. My gratitude and appreciation are dedicated to the Dean of the College of Engineering and to all of Computer Engineering Department teachers and employees for their valuable helps and guidance during the stages of the study. Special thanks are extended to Assoc. Prof. Dr. Mehmet KARAKOSE for his professional advice and for taking part as an advisory committee in my thesis presentation and their inestimable feedbacks which enhanced and improved my research. I would like to express my gratitude and special thanks to Turkey Government and Presidency for Turks aboard and related communities for providing the master degree for me, by which I found the ability to become familiar to Turkish people, and Turkish culture. Their unlimited helps, supports and encouragements are greatly appreciated. Acknowledging my beloved family for their supports and encouragements in the hard times, I am forever indebted to my family especially my mother, my father and my lovely wife for all their helps both materially and morally. I would like to record a word of gratitude, appreciation and thanks for Beautiful Elâzığ City and all of its people for their help and good behavior. Finally, I'm grateful to all of my Friends and to whoever helped me in conducting this study. Zardasht SHWANY ELAZIG - 2017 II TABLE OF CONTENTS Page No ACKNOWLEDGMENT .......................................................................................................... II TABLE OF CONTENTS ....................................................................................................... III ABSTRACT ............................................................................................................................ VI ÖZET ...................................................................................................................................... VII LIST OF FIGURES ............................................................................................................. VIII LIST OF TABLES .................................................................................................................... X ABBREVIATIONS ................................................................................................................. XI SYMBOLS ............................................................................................................................ XIII 1. INTRODUCTION ................................................................................................. 1 1.1 Overview .................................................................................................................. 1 1.2 Thesis Goal .............................................................................................................. 3 1.3 Important Terminologies ......................................................................................... 4 1.4 Methodology ............................................................................................................ 6 1.4.1 Data Acquisition ...................................................................................................... 6 1.4.2 Alignment or Registration ....................................................................................... 7 1.4.3 Surface Reconstruction ............................................................................................ 8 1.4.4 Texture Mapping ..................................................................................................... 9 1.5 Organization of the Thesis ....................................................................................... 10 1.6 Summary .................................................................................................................. 11 2. BACKGROUND AND LITERATURE ............................................................... 12 2.1 Overview .................................................................................................................. 12 2.2 What is 3D Scanner? ............................................................................................... 16 2.3 What is 3D Laser Scanner? ...................................................................................... 16 2.4 The Importance of 3D Scanner ................................................................................ 17 2.5 Methods and Tools .................................................................................................. 18 III 2.5.1 Software Tools ......................................................................................................... 18 2.5.2 Formats .................................................................................................................... 18 2.6 Types of 3D Scanning Techniques .......................................................................... 19 2.6.1 Contact Technique ................................................................................................... 20 2.6.2 Non-Contact Technique ........................................................................................... 22 2.7 Main Applications and Benefits .............................................................................. 28 2.8 Limitations of 3D Laser Scanning ........................................................................... 28 2.9 Coordinate Systems ................................................................................................. 29 2.9.1 Cartesian Coordinates .............................................................................................. 29 2.9.2 Cylindrical Coordinates ........................................................................................... 30 2.10 Summary .................................................................................................................. 32 3. DESIGN AND IMPLEMENTATION OF A 3D SCANNER CONTROL SYSTEM ................................................................................................................. 33 3.1 Design Principles ..................................................................................................... 33 3.2 Structure of the Scanner Mechanical Parts .............................................................. 33 3.2.1 Microcontroller Based Scanner Controlling ............................................................ 35 3.2.2 Stepper Motor and Stepper Motor Driver ................................................................ 37 3.2.3 Camera ..................................................................................................................... 38 3.2.4 Laser Line ................................................................................................................ 38 3.2.5 Rotating Table Platform .......................................................................................... 40 3.3 Construction of Device Parts ................................................................................... 41 3.4 Software and User Interface Design ........................................................................ 43 3.4.1 Collecting and Data Princeple From Scanner Through the Software ...................... 47 3.5 Laser Line Detection Using the Brightest Pixel Algorithm ..................................... 48 3.6 Poisson Surface Reconsctruction ............................................................................. 50 4. RESULTS AND DISCUSSION ............................................................................ 54 4.1 Enhancing Shining and Reflective Object Surface .................................................. 58 IV 4.1.1 Powder the Object .................................................................................................... 58 4.1.2 Spray Paint ............................................................................................................... 58 4.2 Comparison of the System With the Other Systems ............................................... 58 4.3 Daylight Effects and Decreasing Scanning Noise .................................................. 60 5. CONCLUSIONS .................................................................................................... 61 5.1 Future Work ............................................................................................................. 62 REFERENCES ...................................................................................................... 63 CURRICULUM VITA .......................................................................................... 68 V ABSTRACT DESIGN OF A FAST 3D SCANNER Nowadays, 3D Laser Scanning technology is utilized in a variety of fields in modern world technology including healthcare systems, sciences and educations, arts, designs and industrial designs, and manufacturing. 3D Scanning of any objects can be done by three major processes which are; 3D data acquisition, cleaning, alignment and surface reconstruction. The project goal is describing the whole process steps