University of Twente Student Theses


The design of a prototype handheld 3D surface reconstruction setup for monitoring skin diseases

Evers, M. (2021) The design of a prototype handheld 3D surface reconstruction setup for monitoring skin diseases.

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Abstract:This master thesis describes the design and implementation of a prototype handheld 3D surface reconstruction system designed to monitor skin diseases. This prototype aims to function as a test bench that can be used for testing new methods, better optimization, and other improvements. The project focuses on data acquisition and constructing a working prototype system pipeline that extends from data acquisition to a SLAM server. The prototype system consists of two main components; a handheld scanner responsible for data acquisition and a main processing unit that runs a GPU optimized ES-EKF-SLAM algorithm. This SLAM algorithm can create a point cloud based on the gathered measurements, and so, a 3D reconstruction of a surface can be constructed. The results of run-time evaluations show that the system is, at its maximum, capable of handling input image sizes of 960x720px. The minimal throughput time for this resolution is around 1s. This includes; loading the data, finding the landmarks, and sending the landmarks to the external SLAM server. Experiments with the prototype system show that surfaces can be reconstructed, but results show that the system is sensitive for errors in the landmark acquisition outside of a test environment.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology, 54 computer science
Programme:Embedded Systems MSc (60331)
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