Online Colored Point Cloud Acquisition by Reprojection

Colored point cloud is essential for artifacts scanning, human digitalization and garment manufacturing. To get accurate color information of each scanning point, a novel strategy for online colored point cloud acquisition is proposed. Firstly, a buffer to store images of the scanned object and positions of the scanner is allocated. Then, it is refreshed during the scanning process and the color of points reconstructed from current frame is restored by reprojecting them to images in the buffer. Compared to traditional methods, the new algorithm can restore color information accurately in real time and can be integrated to an existing scanning system easily, both of which are validated in a robot based laser scanning system.