Modélisation 3D d’objets par un capteur visuel déplacé par un opérateur 3D Modelling of objects from a visual sensor moved manually by an operator

This paper describes problems to be solved when modelling a 3D object from images acquired by a visual sensor moved manually by an operator. The object is set on a plane ; the sensor is moved on a semisphere centered on the object. In order to build a 3D model from such a protocol, several functions must be developped : 2D and 3D data acquisition, motion estimation from interest points tracked on the sequence of 2D images, registration of 3D data acquired from every 3D view point, construction of a geometrical model and texture mapping. This paper focuses only on the relationships tracking-registration from continuous data acquisitions when moving the sensor around the object, considering two registration methods, ICP or SLAM.