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Three-dimensional objects can be scanned by 3D laser scanners that use active triangulation. These scanners create three-dimensional point clouds from the scanned objects. The laser line is identified in the images, which are captured at given transformations by the camera, and the point cloud can be calculated from these. The hardest challenge is to construct these transformations so that most of the surface can be captured. The result of a scanning may have missing parts because either not the best transformations were used or because some parts of the object cannot be scanned. Based on the results of the previous scans, a better transformation plan can be created, with which the next scan can be performed. In this paper, a method is proposed for transforming a special 3D scanner into a position from where the scanned point can be seen from an ideal angle. A method is described for estimating this transformation in real-time, so these can be calculated for every point of a previous scan to set up a next improved scan.

Curvature Adaptive 3D Scanning Transformation Calculation