Current Optics and Photonics

Optical Society of Korea (한국광학회)
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Development of Color 3D Scanner Using Laser Structured-light Imaging Method

  • Ko, Youngjun (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Sooyeong (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • Received : 2018.07.06
  • Accepted : 2018.10.12
  • Published : 2018.12.25
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Abstract

This study presents a color 3D scanner based on the laser structured-light imaging method that can simultaneously acquire 3D shape data and color of a target object using a single camera. The 3D data acquisition of the scanner is based on the structured-light imaging method, and the color data is obtained from a natural color image. Because both the laser image and the color image are acquired by the same camera, it is efficient to obtain the 3D data and the color data of a pixel by avoiding the complicated correspondence algorithm. In addition to the 3D data, the color data is helpful for enhancing the realism of an object model. The proposed scanner consists of two line lasers, a color camera, and a rotation table. The line lasers are deployed at either side of the camera to eliminate shadow areas of a target object. This study addresses the calibration methods for the parameters of the camera, the plane equations covered by the line lasers, and the center of the rotation table. Experimental results demonstrate the performance in terms of accurate color and 3D data acquisition in this study.

Keywords

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FIG. 1. Structure of color 3D scanner.

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FIG. 2. Elimination of shadow area by using two laser lights. (a) Target object, (b) Shadow area of left laser light, (c) Shadow area of right laser light.

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FIG. 3. Image differencing and color data acquisition. (a) Left laser-on image, (b) Right laser-on image, (c) Left differential image, (d) Right differential image, (e) Natural color image.

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FIG. 4. Image coordinate transformation.

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FIG. 5. Laser light imaging module and color 3D scanner. (a) Module of two line lasers and camera, (b) Scanner hardware.

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FIG. 6. Calibration object. (a) Grid points, (b) Left laser points.

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FIG. 7. Calibration for rotation center. (a) Grid pattern on rotation table, (b) Overlaid image and points on a circle, (c) Calibration result.

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FIG. 8. 3D scan of planar object. (a) Planar object (photo), (b) Result of scan.

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FIG. 9. Elimination of shadow areas. (a) Object (photo), (b) Scan result by the right laser, (c) Scan result by the left laser, (d) Result using both scans.

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FIG. 10. Result of scan: A white plaster. (a) Object (photo), (b) 3D point cloud, (c) Poisson surface reconstruction.

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FIG. 11. Result of scan: A color doll. (a) Object (photo), (b) 3D point cloud, (c) Poisson surface reconstruction.

TABLE 1. RMS errors according to object distance

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