Portable 3D scanning system for 3D surface reconstruction

A method for obtaining 3D (three-dimensional) surface data of a target object, comprising:

• providing a 3D scanning system, the system comprising:
• a base stand;
• two support tracks, each having a circular arc shape, mounted on the base stand, the two support tracks being rotatable relative to each other around a first rotation axis located near respective proximal ends of the two support tracks;
• two sensor holders, each being moveably mounted on one of the two support tracks and being moveable in a circular arc shaped path along the respective support track;
• and
• two depth sensors, each being held on a respective one of the two sensor holders;
• rotating the two support tracks around the first rotation axis to set a relative rotation angle of the two support tracks;
• moving the two sensor holders to respective initial positions near the respective proximal ends of the support tracks;
• calibrating the two depth sensors using a reference object placed in front of the two depth sensors held on the two sensor holders, by obtaining 3D surface data of the reference object using the two depth sensors at the initial positions, and processing the 3D surface data to generate calibration parameters;
• placing the target object in front of the two depth sensors and keeping the target object stationary;
• while maintaining the relative rotation angle of the two support tracks, moving the two sensor holders along the respective support tracks to a plurality of different positions and obtaining 3D surface data of the target object using the two depth sensors from the different positions;
• and
• constructing a 3D surface of the target object using the calibration parameters and the 3D surface data obtained by the two depth sensors from the different positions.