The Climbing Sensor: 3D Modeling of Narrow Areas by Using Space- Time Analysis
In this chapter, we introduce a novel type of 3D scanning system, named ‘Climbing Sensor’. This system has been designed especially for scanning narrow areas, which are hard or inconvenient to scan by a conventional, commercial scanning system due to its radial laser emission, dimension, and limitation of field angle in some cases.
Our system equips a moving platform with two 1D range sensors (main and sub units) on a ladder-style electromotive lift, and it scans the whole target while it moves downwards and upwards along the ladder. The main unit is used for scanning the target, which repeats scanning in a perpendicular direction to the moving direction of the platform. The sub unit is used for localizing the platform, and it repeats the scanning process in a parallel direction. By using the spatiotemporal range scans acquired from the sub unit, we can accurately estimate the motion of the moving platform, and a correct 3D model can be constructed from data scanned by the main unit.
We applied this system to the Bayon Temple in Angkor Thom, Cambodia. The scanning results proved that the system gives an accurate 3D model, and that the system and the speed of the estimating process are effective.
KeywordsRange Image Range Sensor Main Unit Range Point Scanning Unit
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