3D Scanning and Multiple Point Cloud Registration with Active View Complementation for Panoramically Imaging Large-Scale Plants

  • Dajing Gu
  • Kai Zhu
  • Yuechen Shao
  • Wei Wu
  • Liang GongEmail author
  • Chengliang Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)


3D scanning is a surface reconstruction and a data processing technique which has already been widely used in reverse engineering, agricultural identification and other fields. However, most of the Commercial Off-The-Shelf (COTS) 3D scanning instruments are now developed for small and medium-sized targets, and there lacks an effective means for large-scale objects. In this paper, a multi-scale 3D scanning scheme with active-recognition is presented, which can effectively realize 3D information reconstruction of large-scale targets and recognition. First, data collected by 3D scanners based on structured light technology, which are placed at multiple angles, can be aligned together to generate a complete point cloud. Second, in order to achieve the panoramic view of the target, a camera with higher precision is mounted on the robotic arm for close-up shooting of the areas that are not easy to accurately capture. Finally, multi-scale and multi-resolution target scanning are achieved through refined scanning and detail feature recognition. This method combines large-scale structured light scanning with close-range image acquisition, which has potentials in fruit picking positioning, flaw detection of large workpieces, and three-dimensional human body modeling.


3D scanning Multi-scale Target recognition Point cloud registration 



This work was supported by a grant from the National Natural Science Foundation of China (No. 51775333) and Scientific Research Program of Shanghai Science and Technology Commission (No. 18391901000).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Dajing Gu
    • 1
  • Kai Zhu
    • 1
  • Yuechen Shao
    • 1
  • Wei Wu
    • 1
  • Liang Gong
    • 1
    Email author
  • Chengliang Liu
    • 1
  1. 1.Shanghai Jiao Tong UniversityShanghaiChina

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