Self-localization method for three-dimensional handy scanner using multi spot laser

On the computer vision system, if the shape of the object includes complex parts, unmeasurable area exists for occlusions of the part on its surface in many cases. The area where camera can observe in a frame is also limited and the limitation causes the unmeasurable area. In order to reduce the unmeasurable area, scanning the measurement device is required. Many numbers of views of each model from different position (orientation) have to be taken to reconstruct the whole shape of the model. The point cloud data (surface data) obtained by the measurement device are connected to reconstruct the model. The connection of the data is performed by considering the movement of the measurement system (Self-localization) or using ICP (Iterative Closest Point) algorithm. Accuracy of the connection influences the result of the model reconstructions. Reliable and accurate self-localization of measurement device is introduced in this paper.