3D shape modeling using a self-developed hand-held 3D laser scanner and an efficient HT-ICP point cloud registration algorithm

Jia Chen, Xiaojun Wu, Michael Yu Wang, Xuanfu Li

Research output: Contribution to journalArticleResearchpeer-review

58 Citations (Scopus)


Firstly, we develop a cost-efficient hand-held three-dimensional (3D) laser scanner for optical 3D laser scan data acquisition. Then, an automatic registration algorithm is used for 3D laser scanning based 3D shape modeling. Inspired by the use of twist to parameterize rigid motion in workpiece localization, we present the Hong-Tan based ICP (Iterative Closest Point) automatic registration algorithm (named HT-ICP) for partially overlapping point clouds. Using the point clouds from Stanford 3D Scanning Repository, we compare HT-ICP with the original ICP algorithm and its main variants, and experimental results show that the HT-ICP algorithm improves both the speed and accuracy of registration. Then we give the performance analysis with increasing amount of noise, and show the power of the 4PCSHT-ICP strategy for working directly on the raw noisy data. Furthermore, in the process of complete 3D shape modeling of Venus-head-statue, we demonstrate the effectiveness of the HT-ICP algorithm when aligning the actually acquired noisy point clouds from our self-developed low-precision hand-held scanner.

Original languageEnglish
Pages (from-to)414-423
Number of pages10
JournalOptics and Laser Technology
Issue number1
Publication statusPublished - Feb 2013
Externally publishedYes


  • 3D image processing
  • 3D laser scanning system
  • Point cloud registration

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