A Lightweight Surface Reconstruction Method for Online 3D Scanning Point Cloud Data Oriented toward 3D Printing

<table class="fixed-width table-group" id="tab4"><tr><td><table class="table"><colgroup><col style="width:10.36em"/><col style="width:4.51em"/><col style="width:4.73em"/><col style="width:4.96em"/><col style="width:4.51em"/><col style="width:4.73em"/><col style="width:4.96em"/></colgroup><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Registration algorithm</td><td class="align_center" colspan="3">Huba</td><td class="align_center" colspan="3">Totoro</td></tr><tr class="thead"><td class="align_center"><svg height="11.439pt" id="M276" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 16.4758 11.439" width="16.4758pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path></g><g transform="matrix(.013,0,0,-0.013,4.485,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.013,0,0,-0.013,11.832,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path></g></svg>/mm</td><td class="align_center">Iteration</td><td class="align_center">Time/sec</td><td class="align_center"><svg height="11.439pt" id="M277" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 16.4758 11.439" width="16.4758pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path></g><g transform="matrix(.013,0,0,-0.013,4.485,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.013,0,0,-0.013,11.832,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path></g></svg>/mm</td><td class="align_center">Iteration</td><td class="align_center">Time/sec</td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">RICP</td><td class="align_center" rowspan="2">0.005</td><td class="align_center">7</td><td class="align_center">32</td><td class="align_center" rowspan="2">0.005</td><td class="align_center">8</td><td class="align_center">41</td></tr><tr><td class="align_left">ICP</td><td class="align_center">12</td><td class="align_center">59</td><td class="align_center">15</td><td class="align_center">77</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Number of iterations and elapsed time of registration by RICP and ICP.</div>

Mathematical Problems in Engineering

tab4

Table 4

Table 4: A Lightweight Surface Reconstruction Method for Online 3D Scanning Point Cloud Data Oriented toward 3D Printing 