Application of Surface Reconstruction for Car Undercarriage Inspection

The method for camera-based 3D reconstruction of car undercarriages is proposed in this paper. It is designed for a special scanner, which is placed under a road level and scans undercarriages of passing cars. The scanner uses mirrors to increase a distance from a camera and to capture a stereo image only by one camera. The 3D models of individual parts of an undercarriage are reconstructed by a correlation-based block-matching algorithm. Afterward, these models are stitched together based-on visual odometry. The method was successfully tested on real car undercarriages.