Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction
To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/3/139 |
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| author | Zhen Zhang Changcai Cui Guanglin Qin Hui Huang Fangchen Yin |
| author_facet | Zhen Zhang Changcai Cui Guanglin Qin Hui Huang Fangchen Yin |
| author_sort | Zhen Zhang |
| collection | DOAJ |
| description | To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted to refine regions that were incompletely captured in the initial step, with a genetic algorithm optimizing the scanning paths to enhance efficiency. The local models are then aligned and fused with the global model to produce the final 3D reconstruction. Comparative experiments on sculptures made of different materials were conducted to validate the effectiveness of the proposed method. Compared with CAD-slicing and surface-partitioning methods, the proposed approach achieved superior model completeness, a scanning accuracy of 0.26 mm, a standard deviation of 0.31 mm, and a total scanning time of 152 s. The results indicate that the proposed method enhances reconstruction integrity and overall quality while maintaining high efficiency, making it a viable approach for high-precision 3D surface inspection tasks. |
| format | Article |
| id | doaj-art-c78f324445774d0a8a0fcc5c3c019f80 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-c78f324445774d0a8a0fcc5c3c019f802025-08-20T02:41:52ZengMDPI AGActuators2076-08252025-03-0114313910.3390/act14030139Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture ReconstructionZhen Zhang0Changcai Cui1Guanglin Qin2Hui Huang3Fangchen Yin4Institute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaCollege of Metrology Measurement and Instrument, China Jiliang University, Hangzhou 310018, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaTo improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted to refine regions that were incompletely captured in the initial step, with a genetic algorithm optimizing the scanning paths to enhance efficiency. The local models are then aligned and fused with the global model to produce the final 3D reconstruction. Comparative experiments on sculptures made of different materials were conducted to validate the effectiveness of the proposed method. Compared with CAD-slicing and surface-partitioning methods, the proposed approach achieved superior model completeness, a scanning accuracy of 0.26 mm, a standard deviation of 0.31 mm, and a total scanning time of 152 s. The results indicate that the proposed method enhances reconstruction integrity and overall quality while maintaining high efficiency, making it a viable approach for high-precision 3D surface inspection tasks.https://www.mdpi.com/2076-0825/14/3/139three-dimensional sculpturestwo-step scanning methodindustrial robotviewpoint planning |
| spellingShingle | Zhen Zhang Changcai Cui Guanglin Qin Hui Huang Fangchen Yin Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction Actuators three-dimensional sculptures two-step scanning method industrial robot viewpoint planning |
| title | Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction |
| title_full | Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction |
| title_fullStr | Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction |
| title_full_unstemmed | Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction |
| title_short | Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction |
| title_sort | research on viewpoints planning for industrial robot based three dimensional sculpture reconstruction |
| topic | three-dimensional sculptures two-step scanning method industrial robot viewpoint planning |
| url | https://www.mdpi.com/2076-0825/14/3/139 |
| work_keys_str_mv | AT zhenzhang researchonviewpointsplanningforindustrialrobotbasedthreedimensionalsculpturereconstruction AT changcaicui researchonviewpointsplanningforindustrialrobotbasedthreedimensionalsculpturereconstruction AT guanglinqin researchonviewpointsplanningforindustrialrobotbasedthreedimensionalsculpturereconstruction AT huihuang researchonviewpointsplanningforindustrialrobotbasedthreedimensionalsculpturereconstruction AT fangchenyin researchonviewpointsplanningforindustrialrobotbasedthreedimensionalsculpturereconstruction |