FIG. 1. Structure of color 3D scanner.
FIG. 2. Elimination of shadow area by using two laser lights. (a) Target object, (b) Shadow area of left laser light, (c) Shadow area of right laser light.
FIG. 3. Image differencing and color data acquisition. (a) Left laser-on image, (b) Right laser-on image, (c) Left differential image, (d) Right differential image, (e) Natural color image.
FIG. 4. Image coordinate transformation.
FIG. 5. Laser light imaging module and color 3D scanner. (a) Module of two line lasers and camera, (b) Scanner hardware.
FIG. 6. Calibration object. (a) Grid points, (b) Left laser points.
FIG. 7. Calibration for rotation center. (a) Grid pattern on rotation table, (b) Overlaid image and points on a circle, (c) Calibration result.
FIG. 8. 3D scan of planar object. (a) Planar object (photo), (b) Result of scan.
FIG. 9. Elimination of shadow areas. (a) Object (photo), (b) Scan result by the right laser, (c) Scan result by the left laser, (d) Result using both scans.
FIG. 10. Result of scan: A white plaster. (a) Object (photo), (b) 3D point cloud, (c) Poisson surface reconstruction.
FIG. 11. Result of scan: A color doll. (a) Object (photo), (b) 3D point cloud, (c) Poisson surface reconstruction.
TABLE 1. RMS errors according to object distance
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