Summarizing Image/Surface Registration for 6DOF Robot/Camera Pose Estimation
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Multiscale acquisition and presentation of very large artifacts: The case of portalada
Journal on Computing and Cultural Heritage (JOCCH)
Micrometer multiresolution laser scanning of a renaissance medallion
EuroMed'12 Proceedings of the 4th international conference on Progress in Cultural Heritage Preservation
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Three-dimensional digital modeling of heritage works of art through optical scanners, has been demonstrated in recent years with results of exceptional interest. However, the routine application of three-dimensional (3D) modeling to heritage conservation still requires a systematic investigation of a number of technical problems. The paper describes the process of acquiring a 3D digital model of the Maddalena by Donatello, a wooden statue representing one of the major masterpieces of the Italian Renaissance which was swept away by the Florence flood of 1966, and subsequently restored. The paper reports all the steps of the acquisition procedure, from the project planning to the solution of the various problems due to range camera calibration and to optically noncooperative material. Since the scientific focus is centered on the 3D model's overall dimensional accuracy, a methodology for its quality control is described. Such control has demonstrated how, in some situations, the ICP-based alignment can lead to incorrect results. To circumvent this difficulty, we propose an alignment technique based on the fusion of ICP (iterative closest point) with close-range digital photogrammetry and a noninvasive procedure in order to generate a final accurate model. Detailed results are presented, demonstrating the improvement of the final model, and how the proposed sensor fusion ensures a prespecified level of accuracy.