Acta Simulatio - International Scientific Journal about Simulation

Volume: 4 2018 Issue: 4 Pages: 1-5 ISSN 1339-9640

3D LASER SCANNERS: HISTORY AND APPLICATIONS

Milan Edl; Marek Mizerák; Jozef Trojan

doi:10.22306/asim.v4i4.54 Received: 29 Sep. 2018

Accepted: 07 Oct. 2018
3D LASER SCANNERS: HISTORY AND APPLICATIONS
Milan Edl
Faculty of Mechanical Engineering, University of West Bohemia in Pilsen, Univerzitní 22, 306 14 Plzeň, Czech
Republic, EU, edl@fst.zcu.cz
Marek Mizerák
Technical University of Košice, Faculty of Mechanical Engineering, Institute of Management, Industrial and Digital
engineering, Park Komenského 9, 042 00 Košice, Slovak Republic, EU, marekmizerak@gmail.com
Jozef Trojan
Technical University of Košice, Faculty of Mechanical Engineering, Institute of Management, Industrial and Digital
engineering, Park Komenského 9, 042 00 Košice, Slovak Republic, EU, jozef.trojan@tuke.sk (corresponding author)

Keywords: 3D scanner, 3D scanning, laser, reverse engineering

Abstract: A 3D scanner is a device that analyzes a real-world object or environment to collect data on its shape and
possibly its appearance (i.e. color). The collected data can then be used to construct digital three-dimensional models. 3D
laser scanning developed during the last half of the 20th century in an attempt to accurately recreate the surfaces of various
objects and places. The technology is especially helpful in fields of research and design. The first 3D scanning technology
was created in the 1960s. The early scanners used lights, cameras and projectors to perform this task. Due to limitations
of the equipment it often took a lot of time and effort to scan objects accurately. Collected 3D data is useful for a wide
variety of applications. These devices are used extensively by the entertainment industry in the production of movies or
virtual reality. Other common applications of this technology include industrial design, orthotics and prosthetics, reverse
engineering and prototyping, quality control/inspection and documentation of cultural artifacts.

1 Introduction coordinates relative to the scanner position can be easily

In modern engineering, the term `laser scanning' is used computed.
to described two related, but separate meanings. The first, Hand-held laser scanners create a 3D image through the
more general, meaning is the controlled deflection of laser triangulation mechanism described above: a laser dot or
beams, visible or invisible. Scanned laser beams are used line is projected onto an object from a hand-held device
in stereolithography machines, in rapid prototyping, in and a sensor (typically a charge-coupled device or position
machines for material processing, in laser engraving sensitive device) measures the distance to the surface
machines, in ophtalmological laser systems for the (Figure 1).
treatment of presbyopia, in confocal microscopy, in laser The purpose of a 3D scanner is usually to create a point
printers, in laser shows, in Laser TV, and in barcode cloud of geometric samples on the surface of the subject.
scanners. These points can then be used to extrapolate the shape of
The second, more specific, meaning is the controlled the subject (a process called reconstruction). If color
steering of laser beams followed by a distance information is collected at each point, then the colors on
measurement at every pointing direction. This method, the surface of the subject can also be determined [1].
often called 3D object scanning or 3D laser scanning, is This article is focusing in presenting a brief look on the
used to rapidly capture shapes of objects, buildings, and 3D laser scanners. In addition, it gives a general
landscapes. presentation about the 3D laser scanners’ history and
Since the early 1980's, the analytical stereo-compiler applications.
has been the workhorse for broad-acre spatial data
acquisition tasks including exploration mapping, regular
mine planning and stockpile measurements (Byrne, 1997).
It has also played a lesser role in subsidence monitoring,
environmental lease statistics and infrastructure mapping.
Terrestrial laser scanning has already found its place
between the standard technologies for objects acquisition.
The laser scanner can be described as a motorized total
station, which measures automatically all the points in its
horizontal and vertical field. For each measured point, its
distance to the laser scanner together with the horizontal
and the vertical angles are recorded. So, the space
Figure 1 3D lasser scanner Faro for industrial scanning

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 Acta Simulatio - International Scientific Journal about Simulation
Volume: 4 2018 Issue: 4 Pages: 1-5 ISSN 1339-9640

3D LASER SCANNERS: HISTORY AND APPLICATIONS

Milan Edl; Marek Mizerák; Jozef Trojan

2 History of 3D scanners - accurate,

3D laser scanning developed during the last half of the - fast,
20th century in an attempt to accurately recreate the - truly three dimensional,
surfaces of various objects and places. The technology is -capable of capturing color surface,
especially helpful in fields of research and design. The first - and realistically priced.
3D scanning technology was created in the 1960s.
The early scanners used lights, cameras and projectors One of the first applications was capturing humans for
to perform this task. Due to limitations of the equipment it the animation industry. Cyberware Laboratories of Los
often took a lot of time and effort to scan objects Angeles developed this field in the eighties with their Head
accurately. After 1985 they were replaced with scanners Scanner as shown in figure (3).
that could use white light, lasers and shadowing to capture
a given surface. Next is a brief history of the 3D scanning
development.
With the advent of computers, it was possible to build
up a highly complex model, but the problem came with
creating that model. Complex surfaces defied the tape
measure as shown in figure 2.

Figure 3 Humans head scanning

In 1996, 3D Scanners took the key technologies of a

manually operated arm and a stripe 3D scanner - and
combined them in ModelMaker as shown in figure 3. This
incredibly fast and flexible system is the world's first
Reality Capture System.It produces complex models and it
Figure 2 Object tape measuring textures those models with color.
Color 3D models can now be produced in minutes. field
By the mid-nineties they had developed into a full body in the eighties with their Head Scanner as shown in
scanner as shown in figure. This is where 3D Scanners figure 4.
appeared.
In 1994, 3D Scanners launched REPLICA - which
allowed fast, highly accurate scanning of very detailed
objects. REPLICA marked serious progress in laser stripe
scanning.
Meanwhile Cyberware were developing their own high
detail scanners, some of which were able to capture object
colour too, but despite this progress, true three-dimensional
scanning - with these degrees of speed and accuracy -
remained elusive.
One company - Digibotics - did introduce a 4-axis
machine, which could provide a fully 3D model from a
single scan, but this was based on laser point - not laser Figure 4 Manually operated arm and strip 3D scanner
stripe - and was thus slow. Neither did it have the six
degrees of freedom necessary to cover the entire surface of 3 3D laser scanning application
an object, neither could it digitise color surface. A virtual reality application may be employed to create
While these optical scanners were expensive, a three dimensional virtual space from an existing
Immersion and Faro Technologies introduced lowcost architecture. The virtual reality space may then be used in
manually operated digitisers. These could indeed produce computer simulations of various desired activities. Such
complete models, but they were slow, particularly when the activities could include a workflow or manufacturing line
model was detailed. Again, they could not digitise color simulation [2].
surface. The 3D virtual space may be used for entertainment,
By this time, 3D modellers were united in their quest such as animation or a movie action scene simulation,
for a scanner, which was: keeping even the stunt professions safe from harm.

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 Acta Simulatio - International Scientific Journal about Simulation
Volume: 4 2018 Issue: 4 Pages: 1-5 ISSN 1339-9640

3D LASER SCANNERS: HISTORY AND APPLICATIONS

Milan Edl; Marek Mizerák; Jozef Trojan

Transportation applications, such as a accident contact 3D laser scanning allows even malleable objects to
investigation. The scene of the accident could be 3D laser be scanned in a matter of minutes without compression,
digitized, and a simulation of an actual accident event or which could change their dimensions or damage to their
"what if" scenarios explored. surfaces. Parts and models of all sizes and shapes can be
quickly and accurately captured. 3D laser scanning for
3.1 Applications reverse engineering provides excellent accuracies and
3D laser scanning is used in a variety of fields and helps to get products to market quicker and with less
academic research. It has benefited clothing and product development and engineering costs. 3D Laser scanning
design, the automotive industry and medical science. Laser provides the fast, accurate, and automated way to acquire
scanning can also be used to record buildings, especially in 3D digital data and a CAD model of part’s geometry for
places that people may not be able to access due to safety reverse engineering when none is available. Also, new
hazards. 3D Laser Scanning is used in numerous features and updates can be integrated into old parts once
applications: industrial, architectural, civil surveying, the modeling is accomplished [Site 12]. A practical
urban topography, mining, reverse engineering, quality, mechanical and civil engineering application would be to
archaeology, dentistry, and mechanical dimensional assist in the production of "as built" data and
inspection are just a few of the versatile applications. 3D documentation. Currently, many manufacturing or
laser scanning technology allows for high resolution and construction activities are documented after the actual
dramatically faster 3D digitizing over other conventional assembly of a machine or civil project by a designer or
metrology technologies and techniques. Some very engineering professional. 3D laser scanners could expedite
exciting applications are animation and virtual reality this activity to reduce man-hours required to fully
applications [3-5]. document an installation for legacy.

3.1.1 Material procesing and production 3.1.4 Mechanical applications

Laser scanning describes the general method to Reverse engineering of a mechanical component
sample or scan a surface using laser technology. Several requires a precise digital model of the objects to be
areas of application exist that mainly differ in the power of reproduced. Rather than a set of points a precise digital
the lasers that are used, and in the results of the scanning model can be represented by a polygon mesh, a set of flat
process. Low laser power is used when the scanned surface or curved NURBS surfaces, or ideally for mechanical
does not have to be influenced, e.g. when it only has to be components, a CAD solid model. A 3D scanner can be used
digitized. Confocal or 3D laser scanning are methods to get to digitize free-form or gradually changing shaped
information about the scanned surface. Another low-power components as well as prismatic geometries whereas a
application are structured light projection systems that are coordinate measuring machine is usually used only to
used for solar cell flatness metrology enabling stress determine simple dimensions of a highly prismatic model.
calculation with throughput in excess of 2000 wafers per These data points are then processed to create a usable
hour. digital model, usually using specialized reverse
engineering software [6-8].
3.1.2 Construction industry and civil engineering
- As-built drawings of Bridges, Industrial Plants, and 3.1.5 Civil applications
Monuments. Civil activities could be for a roadway periodic
- Documentation of historical sites. inspection. The digitized roadway data could be contrasted
- Site modeling and lay outing. to previous roadway 3D scans to predict rate of
- Quality control. deterioration. This data could be very helpful in estimating
- Quantity Surveys. roadway repair or replacement costing information. When
- Freeway Redesign. personnel accessibility and/or safety concerns prevent a
- Establishing a benchmark of pre-existing standard survey, 3D laser scanning could provide an
shape/state in order to detect structural changes excellent alternative. 3D Laser scanning has been used to
resulting from exposure to extreme loadings such as perform accurate and efficient as-built surveys and before-
earthquake, vessel/truck impact, or fire. and after construction and leveling surveys [9].
- Create GIS (Geographic information system) maps
and Geomatics. 3.1.6 Gargoyle models
The combined use of 3D scanning and 3D printing
technologies allows the replication of real objects without
3.1.3 Reverse engineering
the use of traditional plaster casting techniques, that in
Reverse Engineering refers to the ability to reproduce
many cases can be too invasive for being performed on
the shape of an existing object. It is based on creating a
precious or delicate cultural heritage artifacts. In figure 5,
digitized version of objects or surfaces, which can later be
the gargoyle model on the left was digitally acquired by
turned into molds or dies. It is a very common procedure,
using a 3D scanner and the produced 3D data was
which has diverse applications in various industries. Non-

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Copyright © Acta Simulatio, www.actasimulatio.eu
 Acta Simulatio - International Scientific Journal about Simulation
Volume: 4 2018 Issue: 4 Pages: 1-5 ISSN 1339-9640

3D LASER SCANNERS: HISTORY AND APPLICATIONS

Milan Edl; Marek Mizerák; Jozef Trojan

processed using MeshLab software. The obtained digital - Saving travel costs.
3D model was used by a rapid prototyping machine to
create a real resin replica of original object as shown on the 3.1.9 3D photography
right of figure 5. 3D scanners are evolving for the use of cameras to
represent 3D objects in an accurate manner. Companies are
emerging since 2010 that create 3D portraits of people (3D
figurines or 3D selfies) (Figure 6) [10].

Figure 6 3D selfie

3.1.10 Law enforcement

3D laser scanning is used by the law enforcement
agencies around the world. 3D Models are used for on-
site documentation of:
- Crime scenes,
Figure 5 An example of real object replication by Means - Bullet trajectories,
of 3D scanning and 3D printing - Bloodstain pattern analysis,
- Accident reconstruction,
3.1.7 Medical CAD/CAM - Bombings,
3D scanners are used in order to capture the 3D shape - Plane crashes, and more.
of a patient in orthotics and dentistry. It gradually supplants
tedious plaster cast. CAD/CAM (Computer-Aided Design/ 4 Conclusion
ComputerAided Manufacturing) software are then used to 3D laser scanning equipment senses the shape of an
design and manufacture the orthosis, prosthesis or dental object and collects data that defines the location of the
implants. object’s outer surface. This distinct technology has found
Many Chairside dental CAD/CAM systems and applications in many industries including discrete and
Dental Laboratory CAD/CAM systems use 3D Scanner process manufacturing, utilities, construction,
technologies to capture the 3D surface of a dental archaeology, law enforcement, government, and
preparation (either in vivo or in vitro), in order to produce entertainment. Laser scanning technology has matured and
a restoration digitally using CAD software, and ultimately developed in the past two decades to become a leading
produce the final restoration using a CAM technology surveying technology for the acquisition of spatial
(such as a CNC milling machine, or 3D printer). The information. Wide varieties of instruments with various
chairside systems are designed to facilitate the 3D scanning capabilities are now commercially available. The high-
of a preparation in vivo and produce the restoration (such quality data produced by laser scanners are now used in
as a Crown, Onlay, Inlay or Veneer). many of surveying’s specialty fields, including
topographic, environmental, and industrial. These data
3.1.8 Design process include raw, processed, and edited dense point clouds;
Design process including: digital terrain and surface models; 3D city models; railroad
- Increasing accuracy working with complex parts and power line models; and 3D documentation of cultural
and shapes, and historical landmarks.
- Coordinating product design using parts from 3D laser scanners have a wide rang of applications
multiple sources, which applicable to very small object to a wide range areas.
- Updating old CD scans with those from more
current technology, Acknowledgement
- Replacing missing or older parts, This article was created by implementation of the grant
- Creating cost savings by allowing as-built design project APVV-17-0258 Digital engineering elements
services, for example in automotive application in innovation and optimization of production
manufacturing plants, flows.
- "Bringing the plant to the engineers" with web
shared scans, and

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 Acta Simulatio - International Scientific Journal about Simulation
Volume: 4 2018 Issue: 4 Pages: 1-5 ISSN 1339-9640

3D LASER SCANNERS: HISTORY AND APPLICATIONS

Milan Edl; Marek Mizerák; Jozef Trojan

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Review process
Single-blind peer review process.

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