3D Registration of Multiple RGB-D Cameras on Arbitrary Position of a Symmetric Object with No Overlapping in a Meat Factory Environment

This paper presents work relating to the reconstruction of 3D point clouds taken from cameras placed arbitrarily in pairs on either side of an object (a pig carcass in this specific use-case). This poses a challenge for complete object reconstruction since the two sides or halves of the object have little or no overlap and high degree of symmetry. The investigation was part of a data collection inside slaughterhouses for a meat factory cell concept development, where the production line cannot be stopped to perform calibration of the cameras. In addition, the footprint should be small, and the cameras' lenses protected and easy to clean. This work presents the method, or pipeline, used to overcome this challenge along with the performance of the pipeline by comparing real-world and point cloud distance measurements.