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Appl. Sci. 2016, 6(5), 132; doi:10.3390/app6050132

Innovative Methodology for Multi-View Point Cloud Registration in Robotic 3D Object Scanning and Reconstruction

1
Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan
2
Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan
3
Department of Mechatronics, School of Mechanical Engineering, Hanoi University of Science & Technology, No. 1 Dai Co Viet Road, Hanoi 112400, Vietnam
*
Author to whom correspondence should be addressed.
Academic Editor: Chien-Hung Liu
Received: 23 December 2015 / Revised: 26 April 2016 / Accepted: 28 April 2016 / Published: 5 May 2016
(This article belongs to the Special Issue Selected Papers from the 2015 International Conference on Inventions)
View Full-Text   |   Download PDF [6719 KB, uploaded 5 May 2016]   |  

Abstract

The paper is concerned with the problem of multi-view three-dimensional (3D) point cloud registration. A novel global registration method is proposed to accurately register two series of scans into an object model underlying 3D imaging digitization by using the proposed oriented bounding box (OBB) regional area-based descriptor. A robot 3D scanning strategy is nowadays employed to generate the complete set of point cloud of physical objects by using 3D robot multi-view scanning and data registration. The automated operation has to successively digitize view-dependent area-scanned point cloud from complex-shaped objects by simultaneous determination of the next best robot pose and multi-view point cloud registration. To achieve this, the OBB regional area-based descriptor is employed to determine an initial transformation matrix and is then refined employing the iterative closest point (ICP) algorithm. The key technical breakthrough can resolve the commonly encountered difficulty in accurately merging two neighboring area-scanned images when no coordinate reference exists. To verify the effectiveness of the strategy, the developed method has been verified through some experimental tests for its registration accuracy. Experimental results have preliminarily demonstrated the feasibility and applicability of the developed method. View Full-Text
Keywords: robot; 3D scanning; image registration; point cloud; reverse engineering; surface digitization robot; 3D scanning; image registration; point cloud; reverse engineering; surface digitization
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Chen, L.-C.; Hoang, D.-C.; Lin, H.-I.; Nguyen, T.-H. Innovative Methodology for Multi-View Point Cloud Registration in Robotic 3D Object Scanning and Reconstruction. Appl. Sci. 2016, 6, 132.

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