Calibration and Reconstruction Algorithms for a Handheld 3D Laser Scanner

  • Denis Lamovsky
  • Aless Lasaruk
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6915)


We develop a calibration algorithm and a three-dimensional reconstruction algorithm for a handheld 3D laser scanner. Our laser scanner consists of a color camera and a line laser oriented in a fixed relation to each other. Besides the three-dimensional coordinates of the observed object our reconstruction algorithm returns a comprehensive measure of uncertainty for the reconstructed points. Our methods are computationally efficient and precise. We experimentally evaluate the applicability of our methods on several practical examples. In particular, for a calibrated sensor setup we can estimate for each pixel a human-interpretable upper bound for the reconstruction quality. This determines a “working area” in the image of the camera where the pixels have a reasonable accuracy. This helps to remove outliers and to increase the computational speed of our implementation.


Reconstruction Algorithm Uncertainty Propagation Laser Point Plane Equation Calibration Algorithm 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Denis Lamovsky
    • 1
  • Aless Lasaruk
    • 1
  1. 1.FORWISS, Universität PassauPassauGermany

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