Structured Light Camera's Point Clouds Captured and Stitched by Humanoid for 3D Objects Based on ICP Registration...

Area of Science:

• Robotics
• Computer Vision
• 3D Reconstruction

Background:

• Humanoid robots are increasingly used beyond industrial applications.
• Structured light cameras offer high resolution and rapid acquisition for 3D scanning.
• Accurate 3D digital model creation is crucial for various fields.

Purpose of the Study:

• To develop an automated system for 3D reconstruction using a humanoid robot.
• To improve the accuracy and efficiency of 3D model generation from point cloud data.
• To reduce manual intervention in the 3D reconstruction process.

Main Methods:

• A humanoid robot equipped with a structured light camera captures object point clouds.
• QR codes on a rotating platform enable view angle identification.
• Automated point cloud registration using a point-to-plane iterative closest point (ICP) algorithm with preprocessing.
• Comparison of the proposed ICP method with Generalized ICP (G-ICP).

Main Results:

• The proposed method significantly enhances the completeness and accuracy of 3D reconstruction models.
• Markerless and precise automatic merging of multi-view point cloud data was achieved.
• Key parameters for efficient ICP computation were identified.
• The system demonstrated improved versatility and practical feasibility.

Conclusions:

• The humanoid-based 3D reconstruction system offers a robust and efficient solution.
• The automated registration process using ICP reduces the need for manual intervention.
• This approach advances the practical application of humanoids in creating detailed 3D digital models.