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Low-Cost Optical-Inertial Point Cloud Acquisition and Sketch System
Tung-Chen Chao1, Hsi-Fu Shih1, Chuen-Lin Tien2
1Department of Mechanical Engineering, National Chung Hsing University, Taichung 40227, Taiwan.
Sensors (Basel, Switzerland)
|January 28, 2026
Summary
This study introduces a novel optical 3D point cloud acquisition system using displacement and inertial sensors. It offers a simpler, more efficient solution for real-time 3D scanning of objects regardless of size.
Area of Science:
- Optical measurement systems
- 3D scanning technologies
- Sensor fusion
Background:
- Traditional 3D measurement techniques are often limited by object size.
- Accurate spatial perception and data processing are crucial for 3D point cloud generation.
- Existing systems may lack efficiency and user-friendly interfaces.
Purpose of the Study:
- To develop an optical 3D point cloud acquisition and sketching system.
- To overcome the size limitations of conventional 3D measurement methods.
- To provide a real-time, user-friendly interface for 3D scanning.
Main Methods:
- Utilized an optical displacement sensor for surface scanning.
- Integrated a six-axis inertial sensor (accelerometer and gyroscope) for spatial attitude.
- Employed a microprocessor control unit (MCU) for data acquisition, merging, and calculation.
- Implemented Butterworth and Mahoney complementary filtering for signal processing.
Main Results:
- Achieved a maximum measurement error of 4.7% on 2D planes (RMS error 2.1%).
- Attained a maximum measurement error of 5.3% on 3D objects (RMS error 2.4%).
- Demonstrated applicability to large-sized 3D objects for outline acquisition.
Conclusions:
- The proposed system offers a simpler hardware architecture and more efficient algorithms.
- The system provides enhanced operation, inspection, and observation features.
- This optical 3D scanning system is versatile and effective for various object sizes.
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