Object detection using multiple three dimensional scans

A system comprising:

• a non-transitory computer-readable storage medium;
• an image sensor;
• and
• one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the system to perform operations comprising:
• obtaining first scan data of a physical object in a first lighting condition using the image sensor, the first scan data comprising images from a plurality of image sensor positions defined in a first coordinate system;
• obtaining second scan data of the physical object in a second lighting condition using the image sensor, the second lighting condition different from the first lighting condition, the second scan data comprising images from a plurality of image sensor positions defined in a second coordinate system;
• determining, via the processor, a transform between the first coordinate system and the second coordinate system, wherein determining the transform comprises determining an offset between poses of the image sensor associated with a first image of the first scan data and a second image of the second scan data;
• and
• generating a three dimensional (3D) model of the physical object based on the first scan data, the second scan data, and the transform.

A non-transitory computer-readable storage medium, storing program instructions computer-executable on a computer to perform operations comprising:

• obtaining first scan data of a physical object in a first lighting condition using an image sensor, the first scan data comprising images from a plurality of image sensor positions defined in a first coordinate system;
• obtaining second scan data of the physical object in a second lighting condition using the image sensor, the second lighting condition different from the first lighting condition, the second scan data comprising images from a plurality of image sensor positions defined in a second coordinate system;
• determining, via a processor, a transform between the first coordinate system and the second coordinate system, wherein determining the transform comprises determining an offset between poses of the image sensor associated with a first image of the first scan data and a second image of the second scan data;
• and
• generating a three dimensional (3D) model of the physical object based on the first scan data, the second scan data, and the transform.