X-Ray and 3D Data Fusion for 3D Reconstruction of Closed Receptacle Contents

Closed receptacle contents can be reconstructed without invasive approaches by coupling X-ray and 3D data acquisitions. We present a solution to the reconstruction problem that exploits 3D data acquisitions of the environment to initialize the X-ray projection calibration and to align the final reconstruction to a global frame. In particular we show that the problem can be solved, without employing calibration patterns, by precisely locating the X-ray emitters and receiver plates w.r.t. a global reference frame. We then exploit matching contours extracted from the X-ray images to calibrate the projection system and to perform the reconstruction of parametric objects. We provide experimental results to measure the reconstruction precision of the overall system using both synthetic data and real experiments.