用双机器人自动扫描文物，精度高且无需人工操作。
Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization
- 双机器人协同：扫描机+转盘机，自动规划路径覆盖全表面
- 相比基线方法，切比雪夫距离更低，F-score更高，几何精度提升显著
- 适合文化遗产机构、博物馆，减少对专业人员依赖
高保真3D扫描对文化遗产的保存至关重要，支持文档记录、分析与长期保护。但传统方法通常需要专业技能和人工干预以维持最佳扫描条件与覆盖率。本文提出一种自动化双机器人扫描系统，通过协调机器人操作与高分辨率3D扫描，消除手持或半自动流程需求。系统将扫描空间划分为不同区域，实现带扫描臂机器人与托盘处理机器人的协同运动规划。优化的轨迹规划与关键点分布确保全面表面覆盖，减少遮挡，并在重建精度与系统效率间取得平衡。实验结果表明，本方法在切比雪夫距离上显著降低，F-score更高，展现出更优的几何精度、更高的数字化效率，且大幅减少对专家操作员的依赖。
原文摘要 · Abstract (English)
High-fidelity 3D scanning is essential for preserving cultural heritage artefacts, supporting documentation, analysis, and long-term conservation. However, conventional methods typically require specialized expertise and manual intervention to maintain optimal scanning conditions and coverage. We present an automated two-robot scanning system that eliminates the need for handheld or semi-automatic workflows by combining coordinated robotic manipulation with high-resolution 3D scanning. Our system parameterizes the scanning space into distinct regions, enabling coordinated motion planning between a scanner-equipped robot and a tray-handling robot. Optimized trajectory planning and waypoint distribution ensure comprehensive surface coverage, minimize occlusions, and balance reconstruction accuracy with system efficiency. Experimental results show that our approach achieves significantly lower Chamfer Distance and higher F-score compared to baseline methods, offering superior geometric accuracy, improved digitization efficiency, and reduced reliance on expert operators.
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