In this presentation, the design and implementation of a prototype handheld 3D surface reconstruction system designed to monitor skin diseases are discussed. The goal of the prototype system is to function as a test bench that can be used for testing new methods, better optimization, and other improvements. The project focuses on data acquisition and constructing a working prototype system pipeline that extends from the data acquisition to the SLAM server itself.
The designed prototype system consists of two main components; a handheld scanner and a main processing unit. The handheld scanner is equipped with a stereo camera setup for the acquisition of depth and color information, an inertial sensor for rotational data of the scanner itself, an illumination unit that can illuminate the surface and can project images/patterns onto it, and a single-board computer with a dedicated GPU for synchronization of the acquired data, (optional) undistortion of the images, and for the GPU optimized landmark finding algorithm. The embedded controller sends the resulting landmarks and the rotational data from the inertial sensor wireless to the external main processing unit. The external main processing unit processes the incoming data through a GPU optimized extended Kalman filter simultaneous localization and mapping (EKF-SLAM) algorithm. This SLAM algorithm can create a point cloud of gathered measurements, and so a 3D reconstruction of a surface can be constructed.
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