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Handheld 3-D scanning with automatic multi-view registration based on visual-inertial navigation

: Kleiner, Bernhard; Munkelt, Christoph; Thórhallsson, Torfi; Notni, Gunther; Kühmstedt, Peter; Schneider, Urs


International journal of optomechatronics 8 (2014), No.4, pp.313-325
ISSN: 1559-9612 (Print)
ISSN: 1559-9620 (Online)
International Workshop on Advanced Optical Imaging & Metrology (Fringe) <7, 2013, Nürtingen>
Journal Article, Conference Paper
Fraunhofer IOF ()
Fraunhofer IPA ()
3-D scanning pipeline; 3-D scanning system; coarse registration; multiple view registration; visual feature tracking; Medizintechnik; 3D-Scannen; visual tracking; visual system

In this article an approach to a mobile 3-D handheld scanner with additional sensory information is proposed. It fully automatically builds a multi-view 3-D scan. Conventionally complex post processing or expensive position trackers are used to realize such a process. Therefore a combination of a visual and inertial motion tracking system is developed to deal with the position tracking. Both sensors are integrated into the 3-D scanner and their data are fused for robustness during swift scanner movements and for long term stability. This article presents an overview over the system architecture, the navigation process, surface registration aspects, and measurement results.