Method and system for scanning an object using an rgb-d sensor

15:

• The method according to claim 14, further comprising for each elementary scan a rotation of the object or a rotation of the sensor around the object, the object being in the position associated with the elementary scan.

16:

• The method according to claim 15, wherein loop closure is detected after a revolution of the object or a revolution of the sensor around the object.

17:

• The method according to claim 16, wherein a pose graph optimization is carried out on the poses of each elementary scan after detecting loop closure.

18:

• The method according to claim 14, wherein the elaborating the three-dimensional model for each elementary scan is made using a variational technique using colored signed distance fields and an approximate L1 minimization.

19:

• The method according to claim 14, wherein the elaborating the merged three-dimensional model of the object comprises a determination of the transformations that transforms each three-dimensional model into an initial three-dimensional model, the determination of the transformations comprising an alignment of each three-dimensional model into the initial three-dimensional model using an approximate L1 norm.

20:

• The method according to claim 14, further comprising using the marching cube algorithm on the merged three-dimensional model of the object to obtain a three-dimensional mesh of the object.

21:

• The method according to claim 14, wherein positions of the object during at least two elementary scans are different and display different portions of the object to the sensor.

22:

• The method according to claim 14, further comprising a segmentation of each key frame to separate the object from the background on the key frame.

24:

• The system according to claim 23, further comprising means for rotating the object or rotating the sensor around the object.

25:

• The system according to claim 24, further comprising means for detecting loop closure after a revolution of the object or a revolution of the sensor around the object.

26:

• The system according to claim 25, further comprising means for carrying out a pose-graph optimization on the poses of each elementary scan after detecting loop closure.