Low Cost Characterization Of 3d Laser Scanners

The calibration of a range camera greatly influences the whole 3D acquisition and modeling process, allowing to minimize the equipment inaccuracy. However, depending on the range camera openness, we might have systems pre-calibrated only once by the industrial manufacturer or systems requiring a regular (and mandatory) end-user calibration before any scan session. Independently of the calibration approach, the metrological system characterization represents a point of paramount importance for making the user aware of the actual performances of his equipment. This permits the choice of appropriate resolution in 3D scan planning and allows to properly interpret the feedback indices during the alignment of several range maps trough Iterative Closest Point (ICP). Finally, in polygonal model editing, the modification of geometrical features is greatly helped by the awareness about the 3D capturing device performances. These remarks are effective for both triangulation based instruments, like Minolta Vivid 910, ShapeGrabber SG100 and SG1000 evaluated in this paper, or TOF based instruments. The proposed experimental method is based on post processing of the range data produced by acquiring the surface of a precise test object with a 3D laser scanner. In this procedure resolution, accuracy, and precision parameters are obtained sequentially, through the application of a set of simple geometric processing steps. Such operating easiness make this approach a possible candidate as a mandatory step in any 3D acquisition and modeling project.