Research On Fully Automatic Three-Dimensional Reconstruction Of Structured Light Scanning

With the rapid development of information science and technology,3D spatial information acquisition technology has been widely used in the fields of reverse engineering,3D printing,geographic mapping,archaeological excavation and so on.Three dimensional reconstruction in different scenarios needs to be applied to different 3D information acquisition methods.Under certain conditions,how to reconstruct 3D objects quickly,accurately and automatically has become a hot topic in scientific frontiers.Based on the principle of structured light,this paper proposes two automatic 3D reconstruction methods:3D reconstruction method based on line laser and three axis translation table,and 3D reconstruction method based on photo 3D scanner and six DOF robot.The two methods can obtain the three-dimensional shape information of the object quickly and accurately,and realize the automation from 3D information acquisition to 3D reconstruction.In this paper,a three-dimensional reconstruction method based on line laser and precision program controlled three axis translation table is proposed,which lays the foundation for the 3D printing of oil painting and other details.The hardware of the system consists of two dimensional laser sensors,a precision program controlled three-dimension translation table,an infrared photoelectric switch and a zero position device,an air sucker carrier platform and a computer.Under the control and processing of software,the automatic three-dimensional scanning of the objects in the four kinds of amplitude range of A3,A4,A5 and A7 is realized,and the scanning range is divided into multiple band width according to the selected size,and the multi plane point cloud data are obtained.After the scan is finished,the multi point cloud will be automatically stitching into the whole point cloud.The main program also contains a variety of point cloud processing functions,including extracting interesting point cloud area,point cloud height statistical histogram,point cloud thinning,contour map rendering,Delaunay triangulation,and so on.It realizes the analysis and fusion of point cloud data.The experiment shows that the system can restore the three-dimensional shape of the object very well,especially to the surface of the oil painting surface,the precision of the point cloud in the plane can reach 0.02mm,and the precision of the height can be up to 0.001mm.The above system has some limitations for the reconstruction of the geometric model of the micro three-dimensional shape.It is the next step of scientific research to acquire real three-dimensional models of all kinds of objects.On this basis,this paper presents an automatic 3D reconstruction system based on the combination of camera 3D scanner and six degree of freedom robot to realize the true 3D reconstruction of the medium and small texture objects.The system consists of a photographed 3D scanner,a six degree of freedom robot,a turntable,a controller and a computer.During the scanning process,the scanner is mounted on the wrist of the robot and automatically adjusts the attitude to scan the objects placed on the turntable.After the processing of point cloud and texture,a real 3D model with texture surface is finally generated.The system solves the problem that the first set of automatic reconstruction system based on line laser can not scan high objects and can not get the texture of models.The experiment shows that the geometric shape of the 3D model is accurate and the texture is accurate.It has the advantages of fast scanning time,high degree of automation and simple operation.The system can be applied to objects of arbitrary shape in the range of 0.4m×0.4m×0.4m.The precision of the 3D model can reach 0.1mm.