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We are currently developing a novel 3D scanning device for rock-art. Within the European project 3D-Pitoti, this scanner shall be used\udto acquire 3D structure and radiometric surface properties of ancient rock-art sites in Valcamonica. Overall design goals include high\udspatial accuracy and precision, as well as radiometric quality beyond phototexture. This paper is devoted to the geometric measurement\udprinciple of the new scanner. We present a novel scanning scheme based on various constraints to Structure from Motion, that guarantees\udhigh accuracy of the resulting scans by combining tachymeter-based tracking of the scanner, stereo, and structure-from-motion. This\udmethod provides scale information (by calibrated stereo), and does not require ground control points, because outside-in tracking avoids\udthe typical issues of drift in structure-from-motion. The system is designed for flexibility, high throughput, approx. 0.1 mm precision,\udand an overall accuracy of the reconstructed 3D structure that conforms with the specifications of the tachymeter

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

A novel high accuracy 3D scanning device for rock-art sites