RECONSTRUCTION OF 3D HUMAN BODY SURFACE USING SENSOR FUSION OF 2D LIDAR AND ENCODER

Azzam Abidurrahman Mujahid

doi:10.23960/jitet.v14i2.9111

Azzam Abidurrahman Mujahid
Politeknik Elektronika Negeri Surabaya

DOI: https://doi.org/10.23960/jitet.v14i2.9111

Keywords Sensor Fusion, LiDAR 2D, 3D Body Scanning, Human Body Reconstruction

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Abstract

Three-dimensional (3D) human body surface reconstruction is an essential component in geometric modeling and robotic perception systems. Conventional scanning approaches based on cameras or structured light often suffer from sensitivity to lighting conditions, occlusion, and limited measurement repeatability. This paper proposes a cost-effective 3D body surface reconstruction system based on sensor fusion between a 2D LiDAR and an incremental encoder mounted on a linear gantry mechanism. The 2D LiDAR performs horizontal distance scanning, while the encoder provides vertical position feedback to construct volumetric spatial data. Data acquisition and sensor synchronization are implemented using a ROS2-based modular architecture to ensure real-time data alignment. The acquired measurements are transformed from polar to Cartesian coordinates to generate a three-dimensional point cloud representation. Experimental validation was conducted on static human body objects, and the results show that the proposed system achieves average positional accuracy of 1.9 mm with Root Mean Square Error (RMSE) below 2% across different gantry speeds. These results demonstrate that the proposed LiDAR–encoder fusion approach provides a reliable and reproducible solution for 3D human body surface reconstruction in controlled environments.

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