Hand-held 3D Scanner Using Two-stage Active Stereo Method

A new 3D scanning device which consists of a hand-held 3D sensor head and a stereo camera, is developed. In the measuring process, the coordinates of observed points are computed relative to the 3D sensor head, and the 3D sensor head is located relative to the fixed stereo camera. The 3D coordinates of the measured object are reconstructed in the two-stage process. The unique two-stage method makes it possible to move the sensor head freely and to measure the whole shape of the object in one sequence, of scanning. In this paper, we describe the system structure, the principle of measurement, some examples of measurement and its accuracy.