3D scene reconstruction based on a moving 2D laser range finder for service-robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Camera calibration with two arbitrary coaxial circles
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
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We describe a low cost system for metric 3D scanning from uncalibrated images based on rotational kinematic constraints. The system is composed by a turntable, an offthe- shelf camera and a laser stripe illuminator. System operation is based on the construction of the virtual image of a surface of revolution (SOR), from which two imaged SOR cross-sections are obtained in an automatic way, and internal camera calibration is performed by exploiting the same object being scanned. Shape acquisition is finally obtained by laser profile rectification and collation. Experiments with real data are shown, providing an insight into both camera calibration and shape reconstruction performance. System accuracy appears to be adequate for desktop applications.