Handheld 3D scanning with automatic multi-view registration based on optical and inertial pose estimation

Fringe projection based portable 3D scanners with low measurement uncertainty are ideally suited for capturing the 3D shape of objects right in their natural environment. Battery powered, compact scanning devices without the need for other stationary equipment provide scanning opportunities in-situ at the customer, at the museum or directly at excavation sites. To fully measure an entire object, multiple views are usually required. However, elaborate manual post processing was typically necessary to build a complete 3D model from several overlapping scans (multiple views). Alternatively, expensive or complex additional hardware (like infrared or magnetic trackers etc.) was needed.