• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.2
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• pp.13-20
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• 2014

In this paper, we implemented the object scanning with nxtOSEK which is an open source platform. nxtOSEK consists of device driver of leJOS NXJ C/Assembly source code, TOPPERS/ATK(Automotive real time Kernel) and TOPPERS/JSP Real-Time Operating System source code that includes ARM7 specific porting part, and glue code make them work together. nxtOSEK can provide ANSI C by using GCC tool chain and C API and apply for real-time multi tasking features. We experimented the 3D scanning with ultra sonic and laser sensor which are made directly by laser module diode and experimented the measurement of scanning the object by knowing x, y, and z coordinates for every points that it scans. In this paper, the laser module is the dimension of $6{\times}10[mm]$ requiring 5volts/5[mW], and used the laser light of wavelength in the 650[nm] range. For detecting the object, we used the beacon detection algorithm and as the laser light swept the objects, the photodiode monitored the ambient light at interval of 10[ms] which is called a real time. We communicated the 3D scanning platform via bluetooth protocol with host platform and the results are displayed via DPlot graphic tool. And therefore we enhanced the functionality of the 3D scanner for identifying the image scanning with laser sensor modules compared to ultra sonic sensor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.458-464
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• 2015

This paper proposes a portable 3-D scanning technique using a laser pointer. 3-D scanning is a process that acquires surface information from an 3-D object. There have been many studies on 3-D scanning. The methods of 3-D scanning are summarized into some methods based on multiple cameras, line lasers, and light pattern recognition. However, those methods has major disadvantages of their high cost and big size for portable appliances such as smartphones and digital cameras. In this paper, a 3-D scanning system using a low-cost and small-sized laser pointer are introduced to solve the problems. To do so, we propose a 3-D localization technique for a laser point. The proposed method consists of two main parts; one is a fast recognition of input images to obtain 2-D information of a point laser and the other is calibration based on the least-squares technique to calculate the 3-D information overall. To verified our method, we carry out experiments. It is proved that the proposed method provides 3-D surface information although the system is constructed by extremely low-cost parts such a chip laser pointer, compared to existing methods. Also, the method can be implemented in small-size; thus, it is enough to use in mobile devices such as smartphones.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.5
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• pp.2414-2433
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• 2019

The aim of this paper is to design a 3D laser radar prototype based on laser triangulation. The mathematical model of distance sensitivity is deduced; a pixel-distance conversion formula is discussed and used to complete 3D scanning. The center position extraction algorithm of the spot is proposed, and the error of the linear laser, camera distortion and installation are corrected by using the proposed weighted average algorithm. Finally, the three-dimensional analytic computational algorithm is given to transform the measured distance into point cloud data. The experimental results show that this 3D laser radar can accomplish the 3D object scanning and the environment 3D reconstruction task. In addition, the experiment result proves that the product of the camera focal length and the baseline length is the key factor to influence measurement accuracy.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.2
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• pp.79-87
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• 2016

As 3D geospatial information is demanded, terrestrial laser scanners which can obtain 3D model of objects have been applied in various fields such as Building Information Modeling (BIM), structural analysis, and disaster management. To acquire precise data, performance evaluation of a terrestrial laser scanner must be conducted. While existing 3D surveying equipment like a total station has a standard method for performance evaluation, a terrestrial laser scanner evaluation technique for users is not established. This paper categorizes and analyzes error sources which generally occur in terrestrial laser scanning. In addition to the prior researches about categorizing error sources of terrestrial Laser scanning, this paper evaluates the error sources by the actual field tests for the smooth in-situ applications.The error factors in terrestrial laser scanning are categorized into interior error caused by mechanical errors in a terrestrial laser scanner and exterior errors affected by scanning geometry and target property. Each error sources were evaluated by simulation and actual experiments. The 3D coordinates of observed target can be distortedby the biases in distance and rotation measurement in scanning system. In particular, the exterior factors caused significant geometric errors in observed point cloud. The noise points can be generated by steep incidence angle, mixed-pixel and crosstalk. In using terrestrial laser scanner, elaborate scanning plan and proper post processing are required to obtain valid and accurate 3D spatial information.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2015.05a
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• pp.17-18
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• 2015

In manufacturing industry, image scanning technique has made enormous progress in past decades. 3D models have been also very important to continuously monitor the related spatial information for freeform buildings. The process of shape making of 3D scanning is as follows: mesh surface segmentation, NURBS surface generation, and parametric solid model generation. We will review the process and applying process. Especially in the construction industry, 3D data collection by laser scanning has become an high quality 3D models. Therefore, in this research, we have an effort to review construction of reverse design process for freeform envelope using 3D scanning. The technology enables many 3D shape engineering and design parameterization of reverse engineering in the construction site.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.171-179
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• 2004

Micro-stereolithography technology has made it possible to fabricate a freeform 3D microslructure. This technology is based on conventional stereolithography, in which a UV laser beam irradiates the open surface of a UV-curable liquid photopolymer, causing it to solidify. In micro-stereolithography, a laser beam of a few $\mu m$ diameter is used to solidify a very small area of the photopolymer. This is one of the key technological elements, and can be achieved by using a focusing lens. Thus, the solidification phenomena of the liquid photopolymer must be carefully investigated. In this study, the photopolymer solidification phenomena in response to variations in the scanning pitch of a focused laser beam was investigated experimentally. The effect of layer thickness on the solidification width and depth was also examined. These studies were conducted under the conditions of relatively lower laser power and relatively higher scanning speed. Moreover, the photopolymer solidification phenomena for the relatively higher laser power and lower scanning speed was investigated, too. In this case, comparing to the case of lower laser power and higher scanning speed, the photopolymer absorbed large amount of irradiation energy of the laser beam. These results were compared with those obtained from a photopolymer solidification model. From these results, a new laser-scanning scheme was proposed according to the shape of the 3D model. Samples by each method were fabricated successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1159-1167
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• 2011

A novel 3D tube scanning technique is proposed. The proposed tube scanning technique is developed for a special tube inspection module which consists of four line-lasers and one camera. Using the scanning module, we can reconstruct the 360 degree shapes of the inner surfaces of a cylindrical tube. From an image frame captured by the camera, we reconstruct a partial tube model based on four laser triangulations. Then by aligning such partial models with respect to a reference tube axis, a complete 3D shape of the tube is reconstructed. The tube axis in each reconstructed frame is aligned with a 3D Euclidean transformation to the reference axis. Several experiments show that the proposed method can align multiple tube axes very accurately and reconstruct 3D shapes of a tube with very low shape distortion.

• Journal of KIBIM
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• v.9 no.1
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• pp.11-21
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• 2019

Recently, there is an increase in fire incidents in building structures. Due to this, the importance of fire-damaged buildings' safety diagnosis and evaluation after fire is growing. However, the existing fire-damaged safety diagnosis and evaluation methods are personnel-oriented, so the diagnostic results are intervened by investigators' subjectivity and unquantified. Thus, improper repair and reinforcement can result in secondary damage accidents and economic losses. In order to overcome these limitations, this study proposes using 3D laser scanning technology. The case analysis of fire-damaged building structures was conducted to verify the effectiveness of accuracy and manpowering by comparing the existing method and the proposed method. The proposed method using 3D laser scanning technology to obtain point cloud data of fire-damaged field. The point cloud data and BIM model is combined to inspect the fire-damaged area and depth. From inspection, quantified repair and reinforcement quantity take-off can be acquired. Also, the proposed method saves half of the manpowering within same time period compared to the existing method. Therefore, it seems that using 3D laser scanning technology in fire-damaged safety diagnosis and evaluation will improve in accuracy and saving time and manpowering.

• International Journal of Contents
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• v.5 no.3
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• pp.19-23
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• 2009

Laser scanning technology is a maturing measurement technology which is capable of obtaining 3D measurement data of objects with high-accuracy, high-resolution and in a short time. Laser scanners are used more and more as surveying instruments for various applications. This paper describes the procedure of 3D data acquirement using terrestrial LiDAR and section drawing extraction through a series of processing for remodeling the interior of a department building. Accurate drawings are needed for improvement construction of building interior. However if the design drawings of that time of construction work were lost or damaged or actual dimensions of drawings differ from those of design drawings, the interior should be resurveyed. In this study, the extraction process of interior plane figures were suggested through using laser scanning and related reverse engineering software

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.