The torso is scanned from the different viewpoints using the Binary Coded Illumination Range Finder. The transformations between the consecutive views are known through the controlling the robot arm which the torso is attached to.
Partial reconstructions are brought into a common coordinate system allowing to start the final registration and the fusion of patches into the one consistent model.
This work has been done in cooperation with ARROWS group at ESAT, K.U.Leuven.
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