Interactive 3D ScanningWithout Tracking

Using inexpensive and readily available materials-a calibrated pair of cameras and a laser line projector - a 3D laser range scanner which requires no tracking is implemented in this paper. We introduce a planarity constraint for reconstruction, based on the fact that all points observed on a laser line in an image are on the same plane of laser light in 3D. This plane of laser light linearly parametrizes the homography between a pair of images of the same laser line, and this homography can be recovered from point correspondences derived from epipolar geometry. Points visible from multiple views can be reconstructed via triangulation and projected onto this plane, while points visible in only one view can be recovered via ray-plane intersection. The use of the planarity constraint during reconstruction increases the system's accuracy, and using the planes for reconstruction increases the number of points recovered. Additionally, an in teractive scanning environment is constructed, where incremental reconstruction is used to provide continuous visual feedback. Reconstructions with this method are shown to have higher accuracy than standard triangulation.