Construction of Convex-Tapes Driven Parallel Robot for 3D Shape Reconstruction

This study aims to construct a system to obtain 3D shape information of the entire circumference of plants without deforming them, which can be used for monitoring growth in plant factories. We propose a method to obtain 3D point cloud data of plants from multiple directions using a parallel robot with convex tapes and to perform all-surrounding 3D shape reconstruction. Using a prototype robot to move an RGB-D camera, multiple-frame 3D point cloud data were reconstructed from RGB and depth images by an RGB-D camera. These point cloud data were then aligned and combined using the ICP algorithm, and a detailed all-surrounding 3D shape was reconstructed.