Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction

To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted to refine regions that were incompletely captured in the initial step, with a genetic algorithm optimizing the scanning paths to enhance efficiency. The local models are then aligned and fused with the global model to produce the final 3D reconstruction. Comparative experiments on sculptures made of different materials were conducted to validate the effectiveness of the proposed method. Compared with CAD-slicing and surface-partitioning methods, the proposed approach achieved superior model completeness, a scanning accuracy of 0.26 mm, a standard deviation of 0.31 mm, and a total scanning time of 152 s. The results indicate that the proposed method enhances reconstruction integrity and overall quality while maintaining high efficiency, making it a viable approach for high-precision 3D surface inspection tasks.