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5n3 A006, Corner B.D., 8i C., %oc!eri 1. .+$s./, %!ree-Dimensional 5mage Capture an$ Applications 45, Croc.

o' "C5+-5"D% +lectronic 5maging, "C5+ 4ol. 6056, "an Eose .CA/, F"A.

Overview of 3D surface digitization technologies in Europe


Nicola D'Apuzzo* Homometrica Consulting - Dr. Nicola D'Apuzzo, Culmannstrasse 59, 8006 uric!, "#itzerlan$
ABSTRACT
%!is paper presents an o&er&ie# o' t!e $i''erent (D sur'ace $igitization tec!nologies commerciall) a&aila*le in t!e +uropean mar,et. %!e solutions 'or (D sur'ace measurement o''ere$ *) ma-or +uropean companies can *e $i&i$e$ into $i''erent groups $epen$ing on &arious c!aracteristics, suc! as, tec!nolog) .e.g. laser scanning, #!ite lig!t pro-ection/, s)stem construction .e.g. 'i0, on C112ro*ot2arm/ or measurement t)pe .e.g. sur'ace scanning, pro'ile scanning/. Crossing *et#een t!e categories is possi*le, !o#e&er, t!e ma-orit) o' commercial pro$ucts can *e $i&i$e$ into t!e 'ollo#ing groups3 .a/ laser pro'ilers mounte$ on C11, .*/ porta*le co$e$ lig!t pro-ection s)stems, .c/ $es,top solutions #it! laser pro'iler or co$e$ lig!t pro-ection s)stem an$ multi-a0es plat'orm, .$/ laser point measurement s)stems #!ere *ot! sensor an$ o*-ect mo&e, .e/ !an$ operate$ laser pro'ilers, !an$ !el$ laser pro'iler or point measurement s)stems, .'/ $e$icate$ s)stems. %!is paper presents t!e $i''erent (D sur'ace $igitization tec!nologies an$ $escri*es t!em #it! t!eir a$&antages an$ $isa$&antages. 4arious e0amples o' t!eir use are s!o#n 'or $i''erent application 'iel$s. A special interest is gi&en to applications regar$ing t!e (D sur'ace measurement o' t!e !uman *o$). Ke words! (D sur'ace scanning, laser scanning, laser pro'iler, #!ite lig!t pro-ection, !an$ !el$ scanner, !uman *o$)

"# $%TROD&CT$O%
%!e consi$erations presente$ in t!is paper are ma$e upon anal)sis an$ sur&e)ing o' t!e (D $igitization mar,et in +urope. "imilar remar,s can *e ma$e 'or t!e nort! American, sout! American an$ Asian mar,ets. Ho#e&er, slig!tl) $i''erent mar,ets coul$ respect t!e $i''erent $istri*ution o' companies $e&eloping an$ pro$ucing measurement s)stems. 5n 'act, *ecause o' !istorical reasons, t!e pro$uction an$ $e&elopment o' (D $igitization solutions *ase$ on #!ite lig!t pro-ection is concentrate$ in +urope, especiall) in 6erman), #!ereas solutions *ase$ on laser scanning are mainl) pro$uce$ an$ $e&elope$ in nort! America. %ec!nologies use$ commerciall) 'or t!e measurement o' t!e sur'ace o' o*-ects #it! micro to macro sizes .i.e. 'rom some cm up to se&eral meters/ can *e $i&i$e$ 'un$amentall) into t#o groups3 s)stems *ase$ on laser scanning an$ s)stems *ase$ on #!ite lig!t pro-ection. %!e use$ e7uipment is $i''erent, !o#e&er t!e) are *ase$ on t!e same principle3 triangulation. 8aser scanning s)stems emplo)s lasers to pro-ect a spot, a line, multiple lines, or patterns onto a sur'ace, #!ereas a lig!t sensor, usuall) a camera, ac7uires t!e scene. %!e t!ree elements laser, lig!t sensor an$ o*-ect sur'ace 'orm a triangle. 9!en t!e geometrical $isposition o' t!e laser an$ t!e lig!t sensor are ,no#n, t!e $istance o' t!e o*-ect sur'ace to t!e laser scanning $e&ice can *e easil) $etermine$ *) triangulation. %o measure sur'ace areas t!e laser spot, line, multiple lines or pattern !a&e to mo&e o&er t!e area .i.e. scan t!e sur'ace/. :or t!is process, $i''erent met!o$s can *e use$, e.g. mirrors s)stems, electro-mec!anical s)stems, !an$ operate$ s)stems. (D measurement s)stems *ase$ on #!ite lig!t emplo) pro-ectors instea$ o' laser lig!t sources, to pro-ect lig!t patterns onto t!e sur'ace. %!e measurement principle remains t!e same3 triangulation. A triangle is 'orme$ *) pro-ector, camera an$ o*-ect. 5n t!is case, to co&er entire sur'ace parts, sur'ace areas are illuminate$ *) t!e emplo)e$ pro-ector. "pecial co$es are use$ to $etermine t!e origin o' t!e lig!t source, e.g. *inar) co$es, color co$es. %!e t#o $i''erent tec!nologies result in &arious sur'ace scanning $e&ices #it! $i''erent c!aracteristics. "ome e0amples are laser pro'ilers mounte$ on C11, porta*le co$e$ lig!t pro-ection sur'ace $igitizer, porta*le laser scanners, !an$ !el$ sur'ace $igitizers. An e0tensi&e $escription o' t!e $i''erent solutions a&aila*le in t!e mar,et #ill *e gi&en in t!e ne0t section, 'ollo#e$ *) e0amples o' applications in &arious 'iel$s.

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'# ACT&A( STATE O) TEC*%O(O+,


%!e remar,s presente$ in t!is section are *ase$ upon t!e sur&e) o' t!e +uropean mar,et o' solutions 'or t!e non-contact (D measurement o' t!e sur'ace o' o*-ects #it! micro to macro sizes, i.e. o*-ects !a&ing $imensions 'rom some cm to se&eral meters. '#" Su-division of the .ar/et %!e solutions 'or (D sur'ace measurement o''ere$ *) t!e ma-or companies can *e $i&i$e$ into $i''erent group $epen$ing on !o# t!e) are categorize$. %!e 'ollo#ing ta*le gi&es an o&er&ie# o' t!e $i''erent groups3
0easure.ent t pe sur'ace measurement measurement o' pro'iles point measurement Technolog laser scanning co$e$ lig!t pro-ection inter'erometr) time-o'-'lig!t S ste. 'i0 s)stem s)stem mo&es .C11, ro*ot/ !an$ !el$ 2 !an$ operate$ o*-ect mo&es .rotating plat'orm/ *ot! s)stem an$ o*-ect mo&e

Crossing *et#een all t!e categorizations is possi*le, e.g. a co$e$ lig!t pro-ection sur'ace measurement s)stem mounte$ on a ro*ot or a !an$ !el$ laser scanning sur'ace pro'iler. Ho#e&er, t!e ma-orit) o' t!e pro$ucts present in t!e +uropean mar,et can *e $i&i$e$ into t!e 'ollo#ing groups3 .a/ laser pro'ilers mounte$ on C11, .*/ porta*le co$e$ lig!t pro-ection s)stems, .c/ $es,top solutions #it! laser pro'iler or co$e$ lig!t pro-ection s)stem an$ multi-a0es plat'orm, .$/ laser point measurement s)stems #!ere *ot! sensor an$ o*-ect mo&e, .e/ !an$ operate$ laser pro'ilers, !an$ !el$ laser pro'iler or point measurement s)stems, .'/ $e$icate$ s)stems .e.g. 'ull !uman *o$) scanner/. %!e 'ollo#ing sections #ill present t!e $i''erent groups an$ gi&e e0amples o' pro$ucts $e&elope$ *) +uropean companies. '#' (aser profilers .ounted on C00 8aser pro'ilers are e0tensi&el) use$ 'or in$ustrial measurements. %!e) are usuall) compose$ o' a camera an$ a laser lig!t source inclu$e$ in a compact an$ sta*le case. A laser line is pro-ecte$ onto t!e o*-ect sur'ace an$ its pro'ile is $igitize$ &er) accuratel) at a &er) !ig! rate. 8aser pro'ilers !a&e to *e mo&e$ o&er an o*-ect to $igitize its sur'ace. 5n t!e in$ustrial measurement 'iel$, t!e) are usuall) mounte$ on C11 .coor$inate measurement mac!ine/, allo#ing a &er) accurate an$ automatic $igitization o' comple0 s!apes in relati&el) s!ort time. 1oreo&er, t!e measure$ (D point clou$ $oes not nee$ 'urt!er processing, as 'or e0ample $ata merging or alignment. %!e a$&antages o' laser pro'ilers are t!e &er) compact size .?0-(0 cm/, t!e e0tremel) !ig! precision .range o' Gm/ an$ t!e !ig! rate $ata ac7uisition. 4ariations o' t!e t)pical sensor setup .one camera an$ one laser lig!t source/ are present in t!e mar,et to 'ul'ill an) special re7uirement, as 'or e0ample laser pro'ilers #it! $i''erent *asis, multiple laser lines, multiple cameras or multiple sensors. :igure ? s!o#s t!ree pro$ucts 'rom +uropean companies.

:igure ?3 +0amples o' laser pro'ilers 'rom +uropean companies. :rom le't to rig!t3 Kreon KLS171 .:rance/< Metris LC15 .Belgium/ mounte$ on a C11-mac!ine< 3D Alliance PHT1 .6erman)/ mounte$ on a ro*ot.

'#3 1orta-le coded light pro2ection s ste.s %!is represent a secon$ group o' sur'ace measurement s)stems e0tensi&el) use$ in +urope. De&elope$ an$ pro$uce$ 'rom +uropean companies, e0ist onl) co$e$ lig!t porta*le measurement s)stems. Ho#e&er, nort! American an$ Asian companies o''er porta*le laser scanning solutions #!ic! !a&e similar c!aracteristics. Corta*le co$e$ lig!t pro-ection s)stems are usuall) compose$ o' a single or multiple cameras an$ a $igital #!ite lig!t pro-ector. %!ese s)stems are relati&el) compact in size an$ can *e t!ere'ore place$ an$ mo&e$ easil). 1oreo&er, t!e) can *e easil) a$-uste$ to $i''erent 'iel$-o'-&ie#s *) c!anging lenses an$2or $isplacing t!e pro-ector an$ cameras. %!e pro-ector ser&es to pro-ect co$e$ lig!t patterns onto t!e o*-ect sur'ace an$ t!e cameras ser&e to ac7uire t!e scene. 5n t!is #a), t!e illuminate$ area is $igitize$ &er) accuratel) in a single ac7uisition. %!e main a$&antage o' t!ese s)stems is, in 'act, t!e 'ast an$ precise $igitization o' relati&el) large sur'ace areas. Hn t!e ot!er !an$, t!e $igitization o' comple0 o*-ects usuall) re7uires t!e ac7uisition 'rom multiple $irections. %!is implies a$$itional post processing o' t!e ac7uire$ $ata, as 'or e0ample, merging an$ aligning t!e (D $ata 'rom t!e multiple ac7uisitions. %!e non-automatism o' t!e $igitization process is t!e main $isa$&antages o' porta*le co$e$ lig!t pro-ection s)stems. 1ore con&enient are t!e s)stems allo#ing t!e s)nc!ronization o' multiple units 'or an ac7uisition 'rom multiple $irections in s!orter time. Iotating an$2or mo&ing plat'orms can also *e use$ to automate t!e ac7uisition process. An a$$itional important 'eature o' t!ese s)stems is t!e simultaneous ac7uisition o' !ig! 7ualit) te0ture images .#!ic! is not t!e case 'or laser pro'ilers/. %!ese can ser&e 'or t!e generation o' 'ull) te0ture$ (D computer mo$el o' t!e measure$ o*-ect. 4ariations o' t!e t)pical sensor setup .one or multiple cameras an$ one pro-ector/ are present in t!e mar,et to 'ul'ill an) special re7uirement, as 'or e0ample s)stems #it! &aria*le *asis, multiple pro-ectors, mirrors s)stems or a$$itional integrate$ illumination. :igure A s!o#s t!ree s)stems $e&elope$ *) +uropean companies.

:igure A3 +0amples o' porta*le co$e$ lig!t pro-ection s)stems 'rom +uropean companies. :rom le't to rig!t3 Steinbichler COMET IV .6erman)/, #it! &aria*le *asis an$ a$$itional le$ illumination< OM ATOS!III .6erman)/, #it! t#o cameras< Pol"#on Technol#" $TSc%l&tor .6erman)/, #it! rotating plat'orm.

'#3 Des/top solutions with laser profiler or coded light pro2ection s ste. and .ulti4a5es platfor. %!is group o' s)stems represents $es,top solutions $esigne$ to measure small o*-ect 'ull) automaticall). %!e o*-ect to *e measure$ is 'i0e$ on a support an$ t!e measurement process o' t!e entire o*-ect is complete$ *) mo&ing an$ rotating t!e o*-ect an$2or t!e sensor. Di''erent sensor tec!nologies can *e emplo)e$, *ut t!e mostl) use$ are co$e$ lig!t pro-ection an$ laser pro'iling. B) t!e 'irst, sur'ace areas are ac7uire$ *) single scans an$ t!e co&erage o' t!e entire sur'ace o' t!e o*-ect is ac!ie&e$ *) $isplacing an$ rotating t!e o*-ect. B) laser pro'iling, a laser line is $isplace$ o&er t!e o*-ect an$ pro'iles are ac7uire$< in t!is case *ot! t!e sensor an$ t!e o*-ect !a&e to mo&e to scan it entirel). %!e main a$&antage o' t!ese s)stems is t!e 'ull automatic ac7uisition process. 4arious s)stem setups e0ists, #it! mo&ing plat'orm 'rom A-a0es .0- an$ )-$isplacement/ up to @-a0es .0-,)-,z$isplacement, roll, pitc!, )a#, rotation/. :igure ( s!o#s t#o e0amples o' s)stems $e&elope$ *) +uropean companies.

:igure (3 +0amples o' $es,top (D measurement s)stems 'rom +uropean companies. :rom le't to rig!t3 3Sha&e S!'(( .Denmar,/, using laser pro'iling an$ (-a0es plat'orm< IV)!*ena HS+i# Vol%,e .6erman)/, using co$e$ lig!t pro-ection #it! mirrors s)stem an$ 5-a0es plat'orm.

'#6 (aser point .easure.ent s ste.s where -oth sensor and o-2ect .ove %!ese s)stems can *e consi$ere$ as using t!e simplest met!o$ to ac7uire sur'aces in (D. %!e) *asicall) measure single laser spots *) triangulation. %!e co&erage o' sur'ace parts is ac!ie&e$ *) $isplacing an$ rotating *ot! t!e sensor an$ t!e o*-ect. %!e measurement process procee$s automaticall). %!e main $isa$&antage o' suc! s)stems is t!e long ac7uisition time. %!e main a$&antage is t!e re$uce$ cost in comparison #it! ot!er automatic measurement s)stems. %!e &ariet) o' s)stem setups is &er) large, *ecause o' t!e re7uire$ $isplacement an$2or rotating mec!anisms o' *ot! o*-ect an$ sensor. :igure > s!o#s t#o e0amples o' s)stems $e&elope$ *) +uropean companies.

:igure >3 +0amples o' laser point measurement s)stems #!ere *ot! sensor an$ o*-ect mo&e. :rom le't to rig!t3 Scantech st-(( .Denmar,/, #it! A-linear-a0es sensor mo&ement an$ ?-linear- an$ ?-rotation-a0is o' t!e o*-ect< Calli+%s CT.(( .6erman)/ scanner an$ measurement principle .?-linear-a0is an$ A-rotation-a0es o' t!e sensor an$ ?-rotation-a0is o' t!e o*-ect/.

'#7 *and operated laser profiler8 hand held laser profiler or point .easure.ent s ste.s 5n t!e case o' !an$ operate$ or !an$ !el$ laser pro'ilers, t!e mo&ement tas, is per'orme$ *) !an$ instea$ o' *) motorize$ s)stems, i.e. t!e o*-ect or t!e sensor are $isplace$ *) !an$ to process t!e $igitization o' t!e sur'ace. %!ese s)stems e0ists in $i''erent 'orms, t#o are t!e most common3 laser pro'iler mounte$ on a mec!anical arm, !an$ !el$ laser pro'iler or laser point measurement. %!e main a$&antages o' t!ese s)stems are t!e manual control o' t!e scanning process an$ t!e real-time &ie# o' t!e ac7uire$ (D $ata. %!e user can in t!is #a) $igitize comple0 o*-ects in s!orter time as t!e 'ull automatic s)stems. 5n t!e case o' laser pro'iler mounte$ on mec!anical arms, t!e scanning process is controlle$ manuall) *) mo&ing t!e laser pro'iler o&er t!e o*-ect. %!e articulate$ arm $eli&ers in real time t!e position an$ orientation o' t!e sensor &er) accuratel), resulting in an imme$iate $igitization o' t!e sur'ace scanne$ *) t!e laser pro'iler. Han$ !el$ laser pro'ilers or laser point measurement s)stems allo# a complete 'ree$om o' mo&ement. Di''erent met!o$s are a&aila*le to $etermine in real-time t!e position an$ orientation o' t!e sensor3 laser trac,ing, p!otogrammetr), electromagnetic trac,ing. 8aser trac,e$ s)stems emplo)s .t!e &er) e0pensi&e/ laser trac,ing tec!nolog) to $etermine &er) precisel) t!e position an$ orientation o' t!e !an$-!el$ scanner mar,e$ #it! special targets. B) electro-magneticall) trac,e$ s)stems, t!e !an$-!el$ scanner are e7uippe$ #it! +1 sensors #!ose position is $etermine$ in real time *) +1-trac,ing $e&ices. %!e accurac) o' suc! s)stems is lo#er. C!otogrammetric s)stems uses p!otogrammetric tec!nolog), i.e. image in'ormation, to esta*lis! t!e position an$ orientation o' t!e sensors relati&el) to t!e o*-ect. :igure 5 s!o#s t!ree e0amples o' s)stems pro$uce$ *) +uropean companies.

:igure 53 +0amples o' !an$ operate$ or !an$ !el$ measurement s)stems 'rom +uropean companies. :rom le't to rig!t3 Kreon KLS51 .:rance/ laser pro'iler mounte$ on mec!anical arm< !an$ operate$ scanner 3D Alliance He/,an .6erman)/, 'i0 laser pro'iler #it! 5a0es !an$ operate$ plat'orm< laser trac,er Leica LT0D12(( an$ !an$ !el$ laser point scanner T!scan ."#itzerlan$/.

'#9 Dedicated s ste.s A large group o' (D sur'ace measurement s)stems is compose$ o' all t!e solutions customize$ 'or speci'ic applications, i.e. t!e s)stems are $e$icate$ 'or t!e ac7uisition o' speci'ic o*-ects an$ are $esigne$ accor$ing to t!e speci'ic tas,. Bot! laser scanning an$ co$e$ lig!t met!o$s can *e use$, multiple sensors are usuall) emplo)e$ an$2or speci'ic mo&ements o' t!e sensors are $esigne$. :igure 6 s!o#s t!ree $i''erent e0amples o' s)stems $e$icate$ to special measurement tas,s.

:igure 63 +0amples o' $e$icate$ s)stems 'rom +uropean companies. :rom le't to rig!t3 'ull *o$) scanner 3ic4 an+ 3ilson Tri5or,3D)o+" Scanner .FJ/, #it! 'our co$e$ lig!t pro-ection s)stems eac! #it! one pro-ector an$ t#o cameras< scanner 'or 'oot lasts Scann"3D )ase .5tal)/, #it! laser point measurement s)stem #it! t#o cameras an$ ?-a0is linear mo&ement an$ ?-a0is rotation plat'orm< $ental cast scanner 6SI +i#iSCA7 +ental .6erman)/, #it! co$e$ lig!t measurement s)stem compose$ o' one camera an$ one pro-ector an$ (-a0es plat'orm.

3# E:A01(E O) A11($CAT$O%S
%!is section presents e0amples o' applications o' (D sur'ace $igitization 'or t!e 'our ma-or groups o' users o' t!is tec!nolog)3 in$ustrial measurements, cultural !eritage, consumer in$ustr) an$ me$ical sciences. 3#" $ndustrial .easure.ents" A t)pical application o' (D sur'ace $igitization in t!e 'iel$ o' in$ustrial measurement is t!e $imensional inspection o' pro$uce$ parts. %!is process is &er) important *ot! in t!e $esign as #ell as in t!e pro$uction p!ase o' a pro$uct. %!e inspection s)stems not onl) must *e precise an$ accurate, *ut t!e) also must *e &ersatile enoug! to allo# rapi$ measurement o' parts or tools in $i''erent parts o' t!e process #it! as muc! in'ormation as possi*le. 5n t!e last $eca$es, $imensional inspection processes !a&e use$ coor$inate measurement mac!ines .C11/. 6reat measurement accurac) can *e o*taine$ #it! t!ese mac!ines. Nonet!eless, t!is tec!nolog) also !as its incon&eniences, 'or e0ample3 t!e piece to *e measure$ must *e 'asten to t!e measuring ta*le< as C11s re7uire contact #it! t!e part t!e) are not relia*le on so't materials or $e'orma*le pieces< t!e measuring process is slo# an$ not massi&e, 'or #!ic! reason t!ere is not all o' t!e in'ormation on t!e areas #it! 'ree sur'aces< C11s are not transporta*le an$ re7uires special set-up 'or t!e installations. 5n t!e last )ears, more an$ more companies use (D optical sur'ace measuring s)stems t!at allo# to sol&e t!ese pro*lems. As e0ample, is s!o#n in :igure @ t!e $imensional inspection o' tur*ine *la$es? *) using t!e optical measuring s)stem Tri&le o' t!e "panis! compan) Nu*($. %!e s)stem applie$ in t!is e0ample, uses t!e co$e$ #!ite lig!t pro-ection tec!nolog). %o measure t!e complete sur'ace o' tur*ine *la$es, multiple ac7uisitions are re7uire$. %!ese are t!en merge$ *) stan$ar$ alignment proce$ures. %!e accurac) o' t!e measurement ac!ie&e$ *) t!is tec!nolog) is a*out ?0Gm.

:igure @3 Hptical (D $igitizer 7%b3D Tri&le ."pain/ .le't/< measure$ tur*ine *la$e .center/< pro'ile anal)sis .rig!t/.

3#' Cultural heritage Cultural !eritage represents an esta*lis!e$ user group o' optical (D measurement s)stems since t!e non-contact c!aracteristic o' t!e tec!nolog) pla)s a rele&ant role. 5n 'act, t!e non-contact (D $igitization o' !istorical o*-ects o''ers man) a$&antages 'or t!eir preser&ation. Crimar), t!e o*-ect can *e anal)ze$ #it!out touc!ing it an$ t!ere'ore #it!out $amaging it. "econ$l), a recor$s $ata*ase o' ancient or !istorical o*-ect can *e esta*lis!e$. %!ir$, t!e $igitize$ o*-ects can *e &ie#e$ *) a larger amount o' people *) setting up $igital museums. A An interesting e0ample is s!o#n in :igure 83 t!e (D measurement o' $inosaur s,eletons *) laser scanning con$ucte$ at $i''erent zoological 1useums in +urope *) t!e Computer 4ision an$ Iemote "ensing 8a*orator) o' t!e Berlin Fni&ersit) o' %ec!nolog), 6erman). Dinosaur s,eletons are comple0 o*-ects #it! irregular structures so t!at laser scanning tec!nolog) #ill ac!ie&e *est results to $etermine t!e s!ape o' t!e *ones. 1ultiple ac7uisitions are re7uire$ to scan t!e entire s,eleton o' $inosaurs. :or e0ample, t!e s,eleton o' t!e 5n$ian elep!ant .?.@0 0 ?.50 0 0.@0 mK/ o' oological 1useum o' Copen!agen .on t!e rig!t/ #as scanne$ 'rom @ scanner positions an$ #it! ?5 re'erence points, resulting in o&er 9A0,000 points #it! an accurac) o' t!e measurement *etter t!an ?mm.

:igure 83 8e't3 scanning setup .8aser "canner Mensi S'5/ #it! $inosaur s,eleton an$ re'erence points. Center an$ rig!t3 scanning setup an$ measure$ (D point clou$ o' t!e Eu&enile 5n$ian elep!ant s,eleton o' t!e zoological museum o' Copen!agen .Denmar,/.

3#3 Consu.er industries3 5n t!e last )ears, t!e use o' re&erse engineering an$ rapi$ protot)ping tec!nologies !a&e $rasticall) increase$ 'or t!e pro$uction o' consumer pro$ucts. :or t!ese proce$ures, optical (D sur'ace measurement tec!ni7ues are t!e most a$e7uate. %)pical e0amples o' pro$ucts #!ere (D tec!ni7ues are use$ 'or inspection an$ re&erse engineering are mo*ile p!ones, s!a&ers, #or,tools, electrical connectors an$ ot!er small plastic o*-ects. "uc! pro$ucts are usuall) compose$ o' $i''erent !ig! precision in-ection moul$e$ plastic parts #it! comple0 geometries. %!e attracti&e $esign, #ell-t!oug!t ergonomics, an$ *asicall) t!e 'itting o' t!e $i''erent s!ells re7uires a t!oroug! inspection. As to$a)'s pressure on manu'acturing is &er) !ig!er, man) companies $eci$e$ to in&est in ne# mo$ern inspection s)stems t!at ena*les 'ast an$ accurate scanning o' 'ull parts. An e0ample is gi&en *) t!e Atlas Copco +lectric %ools, .9innen$en, 6erman)/. %!e compan) manu'actures a &ariet) o' electric tools, ,no#n as LA+6M or L1il#au,eeM tools. Atlas Copco +lectric %ools installe$ a Metris LC5( laser pro'iler .Belgium/ on a D+A 6lo*al 5mage coor$inate measuring mac!ine .C11/ to &eri') t!e 'ull (D geometr) o' t!e !ousings o' pro$uce$ tools(. Atlas Copco +lectric %ools, manu'actures a &ariet) o' electric tools suc! as percussion $rills, scre#$ri&ers, $emolition !ammers, etc. %!e :igure 9 s!o#s t!e e0ample o' measurement an$ inspection o' t!e !ousing o' an electric $rill.

:igure 93 Metris LC5( .Belgium/ laser pro'iler is $igitizing a tool !ousing .le't/< DEA comparison o' measure$ (D point clou$ o' t!e part to t!e re'erence CAD mo$el.

lobal I,a#e C11 #it! scanner .center/<

3#3 0edical sciences 1e$ical sciences are also intereste$ in t!e (D scanning tec!nologies *ecause o' t!eir !ig! accurac), 'ast ac7uisition an$ non-contact c!aracteristics. A goo$ e0ample o' t!e a$&antages o' optical (D measurement tec!nologies in t!e me$ical 'iel$ can *e 'oun$ in $entistr). %!e (D measurement o' $ental casts *rings in t!e ort!o$ontics man) a$&antages an$ ne# opportunities. "e&eral (D scanners speciall) $esigne$ 'or t!is applications e0ists in t!e mar,et. %!e) allo# a precise, 'ull automatic an$ 'ast (D scanning o' 'ull $ental casts, $ies2stumps, inla) preparations, *ri$ge preparations, *ites2antagonists, #a0-ups, an$ superstructures. %!e ac7uire$ $ata can *e use'ul 'or man) reasons, as 'or e0ample3 (D $ata*ases o' $ental casts accessi*le in a local area net#or, re$uce storage costs an$ gi&e eas) an$ instantaneous access to a patient's teet! pro'ile<(D so't#are solutions allo# a simpli'ie$ $esign o' caps, cro#ns, inla)s an$ *ri$ges 'rom t!e scanne$ $ata< patient's $entitions can *e anal)ze$ in $etail, 'or e0ample to assess t!e e''icienc) o' an ort!o$ontics treatment. :igure ?0 s!o#s t!e e0ample o' a (D $ental scanner 3Sha&e D!'(( .Denmar,/, some sample $ata o' (D scans, as #ell as an e0ample o' $igital $esign o' $ental restorations>.

:igure ?03 3Sha&e D!'(( Dental (D "canner .Denmar,/ .le't/< sample measure$ $ata .center/< 3Sha&e DentalDesi#ner so't#are e0amples .rig!t/.

3# 3D *&0A% BOD, S&R)ACE 0EAS&RE0E%T5


5n t!e ne0t t#o sections, special #eig!t is gi&en to t!e utilization o' (D $igitization tec!nologies 'or t!e (D measurement o' t!e !uman *o$). "ince, t!e mar,et in t!is special 'iel$ is not )et su''icientl) e0ploite$, t!e $iscussion #ill not *e limite$ to +urope onl). 5n 'act, e&en t!oug!, prece$ence #as gi&en to +uropean pro$ucts or application, some &alua*le pro$ucts an$ some interesting applications 'rom nort! America an$ Asia are presente$. %!e ne0t sections #ill gi&e a s!ort $escription o' t!e $i''erent tec!nologies use$ commerciall) 'or t!e measurement o' t!e !uman *o$)3 .a/ laser scanning, .*/ pro-ection o' lig!t patterns, .c/ com*ination mo$eling an$ image processing. 3#" (aser scanning 8aser scanning tec!nolog) consists o' using laser lig!t sources to pro-ect on t!e !uman *o$) one or more t!in stripes. "imultaneousl), lig!t sensors ac7uire t!e scene an$ *) appl)ing simple geometrical rules, t!e sur'ace o' t!e !uman *o$) is measure$. %o assure t!e ino''ensi&eness o' t!e lig!t *eam, onl) e)e-sa'e lasers are use$. "pecial optical s)stems an$ mirrors are use$ 'or t!e generation o' stripes 'rom a single laser lig!t *eam. A laser scanner unit is compose$ o' t!e laser, t!e optical s)stem an$ t!e lig!t sensor. %!is unit is mo&e$ across t!e !uman *o$) to $igitize t!e sur'ace. %!e t)pe o' mo&ement an$ t!e num*er o' emplo)e$ units can &ar) $epen$ing on t!e !uman *o$) parts to *e measure$. :or e0ample, t!e 'ull *o$) scanner o' Hamamatsu C!otonics .Eapan/ consists o' 'our scanner units t!at mo&e &erticall) s)nc!ronousl) along 'our pillars .:igure ?? le't/. A secon$ e0ample is t!e !ea$ scanner o' C)*er#are .F"A/. 5n t!is case, a uni7ue scanner unit mo&es in circle aroun$ t!e !ea$ o' a person .:igure ?? center/. As last e0ample is s!o#n t!e 'oot scanner o' 4itronic .6ermna)/3 t!e scanner is compose$ o' t!ree units, #!ic! mo&es !orizontall), t#o laterall) an$ one 'rom t!e *ottom .:igure ?? rig!t/. %!e !ig! costs 'or pro$uction o' !ar$#are components 'or t!e laser scanning tec!nolog) !a&e to *e consi$ere$ as $isa$&antage. A$$itionall) to t!e laser, t!e lig!t sensor an$ t!e optical s)stem, also precise electric motors !a&e to *e use$ 'or t!e $isplacement o' t!e scanner units. 1oreo&er, t!e complete scanner s)stem !as to *e cali*rate$ so t!at t!e geometrical $isposition o' all t!e elements can *e $etermine$ e0actl). A secon$ $isa$&antage o' t!is met!o$ is t!e time re7uire$ 'or t!e $igitization o' large sur'aces. %!ere is no pro*lem 'or t!e measurement o' e0tremities as 'eet an$ !an$s, since t!ese *o$) parts can *e ,ept immo*ile 'or some secon$s. But, in t!e case o' t!e measurements o' !ea$ or 'ull *o$), it is practical impossi*le to sta) immo*ile 'or se&eral secon$s. Fncontrolle$ mo&ements as *reat!ing or muscle contraction can generate errors, especiall) in t!e case o' 'ace measurement #it! its small scale an$ t!e re7uire$ !ig! resolution.

:igure ??3 8aser scanning s)stems. 8e't3 'ull *o$) scanner )o+"Line o' Hamamatsu .Eapan/. Center3 !ea$ scanner Hea+ 8 5ace 3(3( 3D Color Scanner o' C)*er#are .F"A/. Iig!t3 'oot scanner Pe+%s o' 4itronic .6erman)/.

3#' 1ro2ection of light patterns %!e secon$ tec!nolog) use$ e0tensi&el) 'or !uman *o$) measurement is *ase$ on t!e pro-ection o' lig!t patterns. 5t comes closer to t!e solution o' t!e pro*lems $escri*e$ a*o&e. 5nstea$ o' mo&ing t!e scanner unit, a lig!t pattern .usuall) in 'orm o' stripes/ is pro-ecte$ onto t!e !uman *o$) .:igure ?A le't/. A lig!t sensor .e.g. a $igital camera/ ac7uires t!e scene. %!e scanning $e&ice is compose$ usuall) o' a pattern pro-ector an$ a lig!t sensor .:igure ?A center/. 1ore comple0 s)stems use t#o or t!ree lig!t sensors. %!e measurement process is similar to t!e met!o$ o' laser scanning3 stripes on t!e sur'ace are measure$ singularl) *) using triangulation. %!e $i''erence is t!at t!is !appens in a single step an$ t!at t!e entire sur'ace can *e $igitize$ *) a single ac7uisition. :or t!e increment o' t!e resolution, t!e pro-ecte$ stripes are s!i'te$ an$ multiple scenes are ac7uire$. +&er)t!ing !appens in s!ort time perio$ .mostl) un$er one secon$/, so t!at !uman *o$ies can *e $igitize$ #it!out pro*lems3 t!e uncontrolle$ mo&ements o' t!e person are not a pro*lem. Ho#e&er, t!e 'iel$ o' measurement o' suc! scanning $e&ices is limite$, e.g. Ca&t%ror o' 5n"pec, .Cana$a/ .:igure ?A center/ can measure sur'aces #it! ma0imal size o' !al' part o' t!e !uman *o$) .e.g. upper torso/. %o measure large parts o' t!e !uman *o$) .e.g. entire !ea$, 'ull *o$)/ multiple scanning $e&ices are re7uire$. :igure ?A s!o#s on t!e rig!t an e0ample o' a 'ull *o$) scanning s)stem compose$ o' si0 scanning units. %!is proce$ure !as t!e $isa$&antage, t!at multiple units cannot *e use$ simultaneousl) since t!e) inter'ere #it! eac! ot!er's lig!t patterns pro-ections. Cracticall), t!is means, t!at multiple e7uipments !a&e to *e use$ seriall). %!is implies again an e0tension o' t!e ac7uisition time. 1ore a$&antageous, in comparison to laser scanning, are instea$ t!e to$a)'s costs o' t!e tec!nolog).

:igure ?A3 8e't3 pro-ection o' lig!t pattern as stripes. Center3 scanning $e&ice Ca&t%ror o' 5n"pec, .Cana$a/. Iig!t3 si0 Capturors compose a 'ull *o$) scanning s)stem.

3#3 $.age processing and .odeling %!e t!ir$ tec!nolog) utilizes image processing an$ mo$eling tec!ni7ues 'or t!e $igitization o' t!e !uman *o$). 5n t!is case, (D measurements are not per'orme$, *ut (D in'ormation is generate$ an$ e0tracte$ 'rom AD. %#o e0amples are $escri*e$ to e0plain t!is tec!ni7ue3 t!e AD 'ull *o$) scanner Conto%r o' Human-"olutions .6erman)/ .:igure ?( le't/ an$ t!e 'ace mo$eler 5ace en o' "ingular 5n&ersions .F"A/ .:igure ?( rig!t/. B) t!e 'irst e0ample, t!ree images o' a person are ac7uire$ .t#o 'rom t!e 'ront an$ one 'rom t!e si$e/. B) using t!e s)mmetr) o' t!e !uman *o$), t!e most important sizes o' *o$) are compute$ #it! su''icient accurac) 'rom t!e sil!ouettes o' t!e *o$). %!e e0tracte$ *o$) sizes are use$, in t!is speci'ic e0ample, 'or t!e preparation o' mass customize$ $resses.

:igure ?(3 8e't3 AD :ull *o$) scanner Conto%r o' Human-"olutions .6erman)/, scanning e7uipment an$ sil!ouettes images use$ 'or t!e measurement. Iig!t3 'ace mo$eler 5ace#en o' "ingular 5n&ersions .F"A/, use$ images 'or t!e generation o' t!e &irtual !ea$ an$ generate$ (D 'ace mo$el #it! te0ture.

%!e secon$ e0ample s!o#s t!e possi*ilit) to generate e0tremel) realistic 'ace mo$els *) using onl) t#o images o' t!e person .'rom t!e 'ront an$ 'rom t!e si$e/. %!e (D computer mo$el is generate$ manuall) #it! t!e !elp o' user-'rien$l) so't#are tools. 5n t!is case, a real measurement o' t!e !uman 'ace is not per'orme$. Ho#e&er, t!e pro$uce$ (D computer mo$els are e0tremel) p!otorealistic an$ completel) a$e7uate 'or applications as, 'or e0ample, animation an$ computer games. %!e *ig a$&antage o' t!is com*ine$ tec!ni7ue .image processing an$ mo$eling/ is its e0tremel) lo#er price compare$ to real (D measurement. 3#3 Re;uired and useful software :or t!e completion o' t!e o&er&ie# on t!e actual state o' t!e tec!nolog) 'or t!e $igitization o' t!e !uman *o$), t!e re7uire$ an$ !elp'ul so't#are !as also to *e $escri*e$. %!e ra# $ata resulting *) t!e scanning process can usuall) not *e use$ in its original 'orm. 1ostl) scanners are t!ere'ore pro&i$e$ #it! stan$ar$ so't#are 'or t!e &isualization, 'or t!e treatment, 'or t!e e0porting an$ e&entuall) 'or t!e e$iting o' t!e $ata. :igure ?>, on t!e le't, s!o#s 'or e0ample t!e result ac!ie&e$ *) Tri5or, 'ull *o$) scanner o' 9ic,s an$ 9ilson .FJ/ an$ at t!e center t!e result o' a !ea$ scanning s)stem o' 5n"pec, .Cana$a/. 5t can *e clearl) notice$ t!at ra# $ata o' t!e 'ull *o$) scanner !as to *e processe$. 5n t!e case o' t!e !ea$ scanner, t!e result s!o#n as a colore$ (D mo$el o' a 'emale !ea$ !as alrea$) *een processe$.

:igure ?>3 8e't3 result o' Tri5or, 'ull *o$) scanner o' 9ic,s an$ 9ilson .FJ/. Center3 !ea$ mo$el .#it! an$ #it!out te0ture/ resulte$ *) using 5n"pec, .Cana$a/ !ea$ scanner s)stem. Iig!t3 t#o $i''erent le&els o' $etail o' a (D 'ace mo$el resulte$ *) 5ace#en o' "ingular 5n&ersions .F"A/.

Data compression pla)s an important role *) t!e $igitization o' t!e !uman *o$). (D scanning processes generate &er) large amount o' $ata, e.g. t!e 'emale !ea$ mo$el in :igure ?> correspon$s to a*out A@ 1*)tes o' $ata. %!ere'ore, 'or an e''icient an$ unpro*lematic storage, treatment an$ &isualization o' t!e $ata, a$e7uate compression processes are re7uire$. %!ese can *e $e'ine$ speci'icall) to t!e $i''erent parts o' t!e !uman *o$) *) consi$ering t!e t)pical topolog) o' t!eir sur'ace. 9e ta,e t!e !uman 'ace as e0ample3 e&er) !uman 'ace is roun$ s!ape$, !as a nose, a mout!, t#o e)es, etc. %!is *asic in'ormation is use$ to reac! strong compression 'actors #it!out loosing t!e important 'eatures o' t!e !uman 'ace. :igure ?> on t!e rig!t s!o#s an e0ample o' a (D 'ace mo$el at t#o $i''erent compression 'actors3 t!e $etails o' t!e e)es, nose, an$ mout! must *e conser&e$, #!ereas t!e $ata resolution in areas #it! 'e#er $etails can *e re$uce$.

6# A11($CAT$O%S A%D E:1(O$TAT$O% O) *&0A% BOD, D$+$T$<AT$O%


6#" $ntroduction 4arious application 'iel$s e0ploit t!e $igitization o' t!e !uman *o$) since man) )ears. %!e $i''erent applications can *e classi'ie$ into t#o *ig groups, $istinguis!ing t!em *) t!eir re7uirements3 - %!e 'irst is more intereste$ in t!e &isual aspect o' t!e results an$ regar$s mainl) mo&ie in$ustr), animation, computer games, an$ &irtual realit). - %!e secon$, more intereste$ in t!e 7uantitati&e aspect o' t!e result, namel) t!e measurement, inclu$es ergonomics, ant!ropometrics, me$ical applications, an$ *iometr). %!e ne0t paragrap! #ill gi&e some e0amples o' t!e e0ploitation o' !uman *o$) (D sur'ace measurement tec!ni7ues 'or &arious 'iel$s. 6#' Appeal = fashion = -eaut +0perts $ealing #it! st)ling o' persons are increasingl) intereste$ in commercial applications o' !uman *o$) $igitization in t!eir 'iel$. %!e) #is! to s!o# t!eir clients !o# t!e) #ill loo, *e'ore t!e) *u) tren$) $resses or *e'ore t!e) c!oose 'or a *eaut) treatment. %!e) also #is! t!e) coul$ pro&i$e t!em #it! customize$ $resses at a''or$a*le costs. :igure ?5 s!o#s e0amples o' e0isting applications in t!is 'iel$. Hn t!e le't is s!o#n a snaps!ot o' a &irtual 'as!ion s!o# #it! $igitize$ !uman mo$els. Hn t!e center is $ispla)e$ a $igital customer car$ #it! store$ *o$) sizes, t!at #ere $etermine$ *) 'ull *o$) scanning process. Hn t!e rig!t is s!o#n a so calle$ 9irt%al!tr"!on solution, #!ere $i''erent clot! items can *e trie$ &irtuall) on a (D mo$el o' a person.

:igure ?53 +0amples o' e0ploitation o' !uman *o$) $igitization 'or st)ling applications. 8e't3 &irtual 'as!ion s!o#, 'rom Di#ital 5ashion .Eapan/. Center3 $igital customer car$ #it! store$ *o$) sizes, 'rom e!Tailor pro-ect .+F/. Iig!t3 (D &irtual-tr)-on solution, 'rom O&tite/ .5srael/.

:igure ?6 an$ :igure ?@ s!o# ot!er possi*le applications in *eaut) *ranc!es, namel) !air$ressing an$ accessories .e.g. glasses/. 5n *ot! e0amples, t!e appeal o' t!e !uman 'ace is c!ange$ &irtuall) *) a$$ing $igitall) !aircuts or glasses to t!e $igitize$ (D !uman 'ace.

:igure ?63 +0ample o' applications in *eaut)3 &irtual a$$e$ !aircuts, 'rom Stell%re .F"A/.

:igure ?@3 (D iVie: .5srael/ ac7uisition s)stem .le't/< &irtual (D 'rame an$ lenses .center/< (D e)e#ear &irtual-tr)-on .rig!t/.

5n t!e case o' &irtual-tr)-on o' e)e#ear, t!e *ene'its are mani'ol$s 'or *ot! customers an$ optical stores6. :rom t!e point o' &ie# o' t!e client, t!e *ene'its are3 t!e uni7ue !ig! tec! *u)ing e0perience, t!e 7uic, an$ eas) #a) to select 'rames, t!e time sa&e$ on 'rame pre-selection, t!e possi*ilit) to s!are t!e 'rame selection #it! 'amil) an$ 'rien$s, t!e a*ilit) to see !imsel' #it! ne# 'rames #it!out lenses, t!e 'ast &irtual tr)-on o' ne# collections, an$ t!e pri&ate selection *) 5nternet #it!out o*ligation or em*arrassment. :rom t!e point o' &ie# o' t!e optical store, t!e possi*le *ene'its are3 t!e augmente$ attracti&eness o' t!e store $ue to a uni7ue purc!asing e0perience, t!e re$uce$ num*er o' re-ecte$ 'rames $ue to accurate measurement, t!e sa&ing on stoc, *) !ol$ing less 'rame in&entor), t!e e0ten$e$ a&aila*ilit) o' large collection o' 'rames $ue to t!e &irtual in&entor), an$ t!e optician time sa&e$ *) o*taining pre-selection o' 'rames *) t!e client. 6#3 Size surve ing> Iecentl), !uman *o$) size sur&e)s !a&e *ecome a complete necessit). All institution an$ companies #or,ing on ergonomics are e0pecting in'ormation 'or practical imme$iate e0ploitation. 5t !a$ *een realize$ t!at ant!ropometric $ata coul$ impro&e t!e 7ualit) o' pro$uct $esign an$ usa*ilit), #or,station an$ #or, place planning, an$ e&en la*orer sa'et) in certain en&ironment. +sta*lis!ing a national ant!ropometr) $ata *ase 'or t!e nation's citizen is no# un$ou*t'ull) a necessit). National sur&e)s !a&e *een initiate$ in t!e past in FJ ."izeFJ, ??'000 su*-ects scanne$, ?(0 *o$) measurement 'or eac! su*-ect/, in F"A ."izeF"A/, *ut recentl) also in "#e$en an$ in :rance. %!e stan$ar$ posture use$ in all sur&e)s 'eatures t!e legs an$ arms slig!tl) apart o' t!e !uman *o$), el*o#s an$ !an$ -oints slig!tl) *ent. %!is to allo# an automatic $etermination o' t!e important ant!ropometric measures o' t!e !uman *o$) .5"H@A50/. %!e most recent size sur&e)s ."#e$en an$ :rance/ !a&e a$$e$ a$$itional sitting an$ stan$ing postures. Ne# sur&e)s lunc!e$ in C!ina also a$$e$ t!e (D measurement o' !an$s an$ 'eet. %!e automatic recognition o' anatomic lan$mar,s as $e'ine$ *) 5"H@A50 #or,s #ell 'or t!e stan$ar$ posture, !o#e&er some pro*lems still remain 'or &er) 'at people. Hn t!e ot!er !an$, researc! group are #or,ing 'or t!e $e&elopment o' algorit!m 'or t!e automatic lan$mar, recognition also 'or t!e sitting posture.

:igure ?83 (D $ata re7uire$ *) size sur&e)ing@3 stan$ar$ .legs, arms apart/, stan$ing an$ sitting postures, 'oot an$ !an$.

6#3 0edicine %!e me$ical 'iel$ represent an esta*lis!e$ group o' users o' !uman *o$) (D $igitization tec!ni7ues. 4arious applications e0ist alrea$) in ort!o$ontics, prost!etics, ort!ope$ics, plastic surger), reconstructi&e me$icine, 'orensic me$icine, $entistr), HI8 an$ cosmetics. 8 As commercial e0ample 'or t!e me$ical 'iel$, :igure ?9 s!o#s t!e (D measurement s)stem 'or spine an$ posture anal)sis $e&elope$ *) a 6erman compan). %!e s)stem is *ase$ on structure$ lig!t pro-ection. %!e &er) s!ort scanning time o' a*out >0 msec allo#s t!e $)namic (D measurement .>D/ o' t!e spine. %!e gaine$ in'ormation is o' great use 'or anal)sis an$ $iagnosis.

:igure ?93 Human *ac, measurement s)stem 5or,etric 3D;<D8 .6erman)/= Complete s)stem .le't/, s)stem in use .center/, application so't#are .rig!t/.

6#6 Art Artists are *ecoming more intereste$ in (D !uman *o$) $igitization since t!e costs o' t!is tec!nolog) !as $ecrease$ in t!e last )ears an$ *ecame more accessi*le to a larger group o' users. (D replica o' !uman 'aces or 'ull *o$) are o''ere$ in &arious me$ia, as 'or e0ample, point clou$ *urne$ in cr)stal cu*es, or small plastic 'igurines printe$ in (D. Ho#e&er, suc! replicas $o not represent real artistic e0ploitation o' (D measurement tec!ni7ues. A &er) interesting e0ample o' !o# artists can e0ploit t!e tec!nolog) 'or t!eir #or, is gi&en *) Helmic, an$ "c!ec!ter's sculpture o' )ear A000, calle$ *%ris&r%+ent9 an$ installe$ at t!e 1el&in Crice :e$eral Court!ouse in +ast "t. 8ouis .58, F"A/. Fsing tra$itional met!o$s, t!e artists sculpte$ t#el&e li'e-size portraits o' or$inar) American citizensrepresenting t#el&e mem*ers o' a -ur). %!e !ea$s #ere t!en laser-scanne$, rapi$-protot)pe$ at small scale, cast in pe#ter in large 7uantities, 'inis!e$ #it! a !an$-ru**e$ patina, an$ precisel) a''i0e$ to !un$re$s o' suspen$e$ ca*les. Collecti&el), t!e o&er (,000 small sculptures coalesce into t#o monumental !ea$s 'acing eac! ot!er across a s,)lit court!ouse atrium. :igure A0 s!o#s t!e sculptures.

:igure A03 Artistic installation *%ris&r%+ents> at t!e 1el&in Crince :e$eral Court!ouse .F"A/= 8arge &ie# .le't/, t!e male 'ace .center/ an$ $etail o' t!e suspen$e$ small sculptures .rig!t/.

6#7 Ani.ation %!e last e0ample o' application o' (D !uman *o$) measurements come 'rom t!e tec!nological inno&ation e0position A005 in Aic!i, Eapan. A #orl$-'irst in entertainment #as s!o#n at t!e 1itsui-%os!i*a Ca&illon3 ran+ O+"sse", a uni7ue computer animate$ 'ilm?0. "pectators 7ueuing outsi$e #!at appeare$ to *e an or$inar) cinema, #ere in&ite$ to place t!eir 'aces into a !ole in t!e #all 'or a 'e# secon$s. Hig!-resolution $igital cameras per'orme$ a 7uic, scan 'rom se&eral angles, a'ter t!at e&er)one coul$ ta,e t!eir seats. %!e animate$ 'ilm #as *eginning as normal, *ut t!e cast #as ma$e up o' #al,ing, tal,ing $igital replicas o' people in t!e au$ience. +ac! spectator #ere getting a role .t!ere #ere sol$iers, $octors, scientists an$ politicians in&ol&e$ in t!e stor)/ as a %os!i*a supercomputer #as processing t!e one-time-onl) 'ilm. %!e s)stem name$ 5%t%recast #as initiall) $e&elope$ *) 9ase$a Fni&ersit) Cro'essor "!igeo 1oris!ima, an$ complete$ *) 1istui-%os!i*a engineers. %!e entire process can *e $escri*e$ as 'ollo#s3 .a/ a simple 'ace scanner capture images 'rom t!e person 'rom $i''erent $irections< .*/ a (D computer mo$el o' t!e person's 'ace is automaticall) generate$ 'rom t!e scanning $ata< .c/ out o' t!e (D 'ace mo$el a parametrize$ 'ace mas, is automaticall) e0tracte$, t!e parametrization allo#s to in$e0 'ace 'eatures as e)es, e)e*ro#s, nose, mout!, etc.< .$/ t!e 'ace mas, can t!en *e $irectl) inserte$ an$ animate$ in t!e computer animate$ mo&ie.

:igure A?3 5%t%recast s)stem .Eapan/. 8e't3 "pectator original 'ace, 'ace scanner, (D 'ace mo$el an$ parametrize$ 'ace mas,. Iig!t3 person's 'ace inserte$ an$ animate$ in real-time in t!e mo&ie.

7# CO%C(&S$O%
5n t!is paper #as presente$ an o&er&ie# o' t!e $i''erent (D sur'ace $igitization tec!nologies commerciall) a&aila*le in t!e +uropean mar,et. 4arious e0amples o' t!eir use #ere s!o#n 'or $i''erent application 'iel$s. "pecial interest #as gi&en to applications regar$ing t!e (D sur'ace measurement o' t!e !uman *o$).

RE)ERE%CES
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