Abstract
We develop a calibration algorithm and a three-dimensional reconstruction algorithm for a handheld 3D laser scanner. Our laser scanner consists of a color camera and a line laser oriented in a fixed relation to each other. Besides the three-dimensional coordinates of the observed object our reconstruction algorithm returns a comprehensive measure of uncertainty for the reconstructed points. Our methods are computationally efficient and precise. We experimentally evaluate the applicability of our methods on several practical examples. In particular, for a calibrated sensor setup we can estimate for each pixel a human-interpretable upper bound for the reconstruction quality. This determines a “working area” in the image of the camera where the pixels have a reasonable accuracy. This helps to remove outliers and to increase the computational speed of our implementation.
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Lamovsky, D., Lasaruk, A. (2011). Calibration and Reconstruction Algorithms for a Handheld 3D Laser Scanner. In: Blanc-Talon, J., Kleihorst, R., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2011. Lecture Notes in Computer Science, vol 6915. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23687-7_57
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DOI: https://doi.org/10.1007/978-3-642-23687-7_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23686-0
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