Ramsay, Robert2008-09-072008-09-072008http://hdl.handle.net/10092/1240http://dx.doi.org/10.26021/1414This thesis describes a project to create a hardware based 3D interior scanner. This was based on a previous project that created a scanner optimised for interior conditions, using structured light triangulation. The original project referred to as the Mark-I scanner, performed its control and processing on a PC and the primary goal of this project was to re-implement this system using hardware, making the scanner more portable and simpler to use. The Mark-I system required a specialised camera which had an unusually high noise associated with it, so a secondary goal was to investigate whether this camera could be replaced with a superior model or this noise corrected. A Mark-II scanner system was created using FPGA processing and control implemented in the VHDL language. This read from a CMOS camera, controlled the system's motor and laser, generated 3D points and communicated with users. A suitable camera was not found and the Mark-I scanners camera was found to have been damaged and become unusable, so a simulation environment was constructed that simulated the operation of the scanner, created 3D images for it to process, and tested its results. Chapter 1 of this thesis outlines the goals of this pro ject and describes the Mark-I system. Chapter 2 describes the theory and properties of the Mark-I system, and chapter 3 describes the work undertaken to replace the scanner's sensor. Chapter 4 describes the system created to interface to CMOS sensors, and chapter 5 outlines the theory involved in calculating 3D points using structured light triangulation. The final hardware scanner, and the simulation system used to test it, are then described in chapter 6.enCopyright Robert Ramsaystructured lightinglaser scanningimage processingFPGAembedded systemTheses / Dissertations