An ideal motor movement configuration is being developed for a special 3D laser scanner which uses active triangulation. The result of a scanning process is a point cloud, which may have missing parts. These can appear for example where a concave part of the scanned object is hidden by some other part of the object itself. These missing parts can be detected, and the scanner can be reconfigured for the following scan.
In order to achieve a better scan, the transformations of the scanner's motors will be adjusted in such a way that these missing parts will be seen from a better angle. These transformations can be calculated from the results of the previous scans. The point cloud is analyzed, for example, normal vectors are calculated for the points, and the transformations for the following scan are calculated. These transformations are created so that it is the most likely to scan every part of the object based on the previously scanned point cloud.
The calculations also contain a list of points that must be visible from each scanned point (for example the camera and the laser) and it also contains an ideal point that is used for optimization purposes.
This paper contains the details of the transformation calculations, a simulator that is created for testing the calculations in 2D, and numerical and visual representation of the results with this simulator.
This method will be used for automated scans, where previous scans of the same object will make it possible for the scanner to create a better and better scanning configuration.