LaserGun: A Tool for Hybrid 3D Reconstruction

  • Marco Fanfani
  • Carlo Colombo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7963)


We present a tool for the acquisition of 3D textured models of objects of desktop size using an hybrid computer vision framework. This framework combines active laser-based triangulation with passive motion estimation. The 3D models are obtained by motion-based alignment (with respect to a fixed world frame) of imaged laser profiles backprojected onto time-varying camera frames. Two distinct techniques for estimating camera displacements are described and evaluated. The first is based on a Simultaneous Localization and Mapping (SLAM) approach, while the second exploits a planar pattern in the scene and recovers motion by homography decomposition. Results obtained with a custom laser-camera stereo setup — implemented with off-the-shelf hardware — show that a trade-off exists between the greater operational flexibility of SLAM and the higher model accuracy of the homography-based approach.


3D Reconstruction Active Triangulation Motion Estimation SLAM 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Marco Fanfani
    • 1
  • Carlo Colombo
    • 1
  1. 1.Computational Vision Group, Dip. di Ingegneria dell’InformazioneUniversitá di FirenzeFirenzeItaly

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