Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization

• URL: http://arxiv.org/abs/2510.04781v2
• Date: Tue, 14 Oct 2025 09:30:26 GMT
• Title: Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization
• Authors: Javed Ahmad, Federico Dassiè, Selene Frascella, Gabriele Marchello, Ferdinando Cannella, Arianna Traviglia,
• Abstract summary: We present an automated two-robot scanning system that eliminates the need for handheld or semi-automatic trays.<n>Our system parameterizes the scanning space into distinct regions, enabling coordinated motion planning between a scanner-equipped robot and a tray-handling robot.
• Score: 27.127051980315404
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: High-fidelity 3D scanning is essential for preserving cultural heritage artefacts, supporting documentation, analysis, and long-term conservation. However, conventional methods typically require specialized expertise and manual intervention to maintain optimal scanning conditions and coverage. We present an automated two-robot scanning system that eliminates the need for handheld or semi-automatic workflows by combining coordinated robotic manipulation with high-resolution 3D scanning. Our system parameterizes the scanning space into distinct regions, enabling coordinated motion planning between a scanner-equipped robot and a tray-handling robot. Optimized trajectory planning and waypoint distribution ensure comprehensive surface coverage, minimize occlusions, and balance reconstruction accuracy with system efficiency. Experimental results show that our approach achieves significantly lower Chamfer Distance and higher F-score compared to baseline methods, offering superior geometric accuracy, improved digitization efficiency, and reduced reliance on expert operators.

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