Eye-in-Hand RGB-D Volumetric Metrology for Large-Scale Objects Using Multi-View 3D Scanning.

In manufacturing and quality inspection, demand for three-dimensional scanning has grown rapidly. This work presents an eye-in-hand RGB-D 3D scanning system mounted on a UR10 robot for volumetric measurement of large objects beyond turntable-based scanners. An Intel RealSense D435i camera is attached to the robot end-effector, and robot kinematics are combined with depth data to reconstruct watertight 3D models from multi-view point clouds. The pipeline includes path planning for cylindrical and orbit-type trajectories, point cloud preprocessing and registration, mesh reconstruction, and automated volume estimation. Repeated measurement experiments on regular and irregular objects such as cylinder, cube, asymmetric conical frustum, as well as objects larger than the camera field of view, achieve accuracy above 95% with respect to CAD reference volumes, comparable to our previous 2-DOF rotational RGB-D scanner while extending the measurable size and shape range. The system shows promise as a metrology solution for bulky parts. Acknowlegments : This work was supported by the Korea Institute for Advancement of Technology (KIAT) grant funded by the Korea Government (MOTIE) (RS-2024-00409639, HRD Program for Industrial Innovation; RS-2025-24536353).