Robust Algorithms Sequence for Structured Light 3D Scanner Adapted for Human Foot 3D Imaging

In order to optimize operation of inexpensive non-laser structured light 3D scanner (adapted for fast human foot 3D imaging) sequence of robust algorithms was designed, implemented and tested. During multi-frame image acquisition, sequence of Averaging and Median filters was used to reduce camera noise of different origin. A number of Robust Color Edge detectors used in the step of 3D calculations were evaluated and compared. The least amount of outliners was obtained in the algorithm evaluating Color Edge position by using scalar product in the RGB space after gray component elimination. Resulted cloud of 3D points (representing 3D colour human foot image) was effectively clean from dangerous for CNC /3D Printer outliners.