Phase-SLAM: Mobile Structured Light Illumination for Full Body 3D Scanning

Zheng, Xi; Ma, Rui; Gao, Rui; Hao, Qi

10.1109/IROS51168.2021.9636457

2021

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-1715-0

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

1617-1624

SEP 27-OCT 01, 2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Full body scanning plays an important role in automated industrial manufacture and inspection. It requires the fusion of multi-view point cloud data and consumes large computational resources when the geometry of corresponding point clouds are unknown. Structured Light Illumination (SLI) is one of the most promising indoor 3D imaging techniques, but also has the same weakness for fusing the multi-view point clouds. This work proposes a mobile SLI system to alleviate this problem for full body 3D scanning. We derive the geometric relation between the phase and the motion of the mobile system, and develop an optimization approach to estimate the pose by comparing the phase image pair before and after the motion. Further more, a graph-based Simultaneous Localization And Mapping (SLAM) framework is built to improve the global accuracy of the pose estimation. By using the 2D phase comparison, the proposed method is more accurate than the normal 2D image feature point matching, and has lower computational complexity than the 3D point registration. The proposed system is experimented in both 3D Simulator and real environment. The yielded full body scan results demonstrated its higher accuracy and more efficiency than the current methods.

Point cloud compression Geometry Three-dimensional displays Simultaneous localization and mapping Pose estimation Lighting Imaging

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China[61773197]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000755125501045

20220711623738

Computational geometry ; Imaging systems ; Indoor positioning systems ; Intelligent robots ; Robotics ; Scanning

Computer Applications:723.5 ; Robotics:731.5 ; Robot Applications:731.6 ; Imaging Techniques:746 ; Combinatorial Mathematics, Includes Graph Theory, Set Theory:921.4

Web of Science

Southern Univ Sci & Technol, Dept Comp Sci & Engn, Shenzhen, Peoples R China

Zheng, Xi,Ma, Rui,Gao, Rui,et al. Phase-SLAM: Mobile Structured Light Illumination for Full Body 3D Scanning[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:1617-1624.