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Laser
WebcamTurntable
Low cost 3D scanner
Costs:
• Laser………….100euro
• Webcam………100euro
• Turntable……...150euro
Side viewTop view
Object
• In order to perform triangulation (line-plane intersection) all the devices must be calirated.
• 3D handmade grid cube with known 3D position
The detected points are the measurements
• Camera Calibration
Detected laser line with known world position.
• Laser plane calibration
• Laser with cylindrical lens.
• Subpixel peak detector
• Laser plane orientation is finally computed.
I Wx PxIx
Wx
0 50 100 150 200 250 300 350 400 450 5000
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2x 10
4
• Turntable calibration (time)
• Turntable calibration (space)
• Point detector
• Ellipse detection
• Ellipse fitting
• Imaged center
Assumption:
• Uniform Sampling
• Low jitter
• Constant velocity
Frame Number
SSD
SSD (summed squared difference) all frames wrt the first .
• Recontruction by Triangulation.
• We use the DirectShow API to acquire the video sequence. 320x240pixel 30fps
• And OpenCV for basic image processing.
• Point cloud
• Triangulated mesh
• Point cloud • Triangulated mesh
• Application: Orthopaedic Shoemaking Ortopedia Fiorentina (Firenze).
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