3DMADMAC|AUTOMATED: synergistic hardware and software solution for automated 3D digitization of cultural heritage objects

In this article a fully automated 3D shape measurement system and data processing algorithms are presented. Main purpose of this system is to automatically (without any user intervention) and rapidly (at least ten times faster than manual measurement) digitize whole object’s surface with some limitations to its properties: maximum measurement volume is described as a cylinder with 2,8m height and 0,6m radius, maximum object's weight is 2 tons. Measurement head is automatically calibrated by the system for chosen working volume (from 120mm x 80mm x 60mm and ends up to 1,2m x 0,8m x 0,6m). Positioning of measurement head in relation to measured object is realized by computer-controlled manipulator. The system is equipped with two independent collision detection modules to prevent damaging measured object with moving sensor’s head. Measurement process is divided into three steps. First step is used for locating any part of object’s surface in assumed measurement volume. Second step is related to calculation of "next best view" position of measurement head on the base of existing 3D scans. Finally small holes in measured 3D surface are detected and measured. All 3D data processing (filtering, ICP based fitting and final views integration) is performed automatically. Final 3D model is created on the base of user specified parameters like accuracy of surface representation and/or density of surface sampling. In the last section of the paper, exemplary measurement result of two objects: biscuit (from the collection of Museum Palace at Wilanów) and Roman votive altar (Lower Moesia, II-III AD) are presented.