Lee Jaeho, Shin Hyunsoo, Lee Sungon
Department of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, Korea.
School of Electrical Engineering, Hanyang University, Ansan 15588, Korea.
Sensors (Basel). 2021 Jun 4;21(11):3885. doi: 10.3390/s21113885.
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, and the scanning quality is also much better than that of the depth camera.
在一个使用相机和线激光的三维扫描系统中，为了进行精确的三维重建，获取相机和激光之间准确的几何关系至关重要。对于现有的深度相机而言，由于一次只能扫描有限的区域，所以很难在大范围内扫描大型物体或多个物体。我们开发了一种带有旋转线激光和广角相机的三维扫描系统用于大面积重建。为了使用旋转线激光获取物体的三维信息，我们必须在每个旋转角度都了解线激光相对于相机坐标的平面。这通过在校准期间估计旋转轴，然后以预定义角度旋转激光来实现。因此，精确校准对于三维重建至关重要。在本研究中，我们提出了一种校准方法来估计线激光的旋转轴与相机之间的几何关系。使用所提出的方法，我们能够准确估计线激光旋转时生成的圆锥或圆柱形状的中心。进行了一项模拟研究来评估校准的准确性。在实验中，我们比较了使用我们的系统和商用深度相机进行三维重建的结果。结果表明，对于平面重建，我们系统的精度大约高65%，并且扫描质量也比深度相机好得多。
