Robust registration for removing vibrations in 3D reconstruction of web material

•A robust registration for removing vibrations in laser-based 3D reconstruction is proposed.•The registration is carried out between consecutive height profiles to compensate the movement of the material introduced by vibrations.•The registration is an adaptation of the ICP algorithm with robust rejection based on the surface normals and median distance.•The proposed method is applied to an extensive dataset, both synthetic and real, with very good results.

Vibrations are a major challenge in laser-based 3D reconstruction of web material. In uncontrolled environments, the movement of web material forward along a track is inevitably affected by vibrations. These oscillations significantly degrade the performance of the 3D reconstruction system, as they are incorrectly interpreted as irregularities on the surface of the material, leading to an erroneous reconstruction of the 3D surface. This work proposes a method to estimate and remove these vibrations based on a robust registration procedure. Registration is used to estimate vibrations and a rigid transformation is used to compensate the movements, removing the effects of vibrations on 3D reconstruction. The proposed method is applied to an extensive dataset, both synthetic and real, with very good results.