Figure 3
From: Robotic 3D scanner as an alternative to standard modalities of medical imaging
Overview of used coordinate systems. S – internal coordinate system of laser scanner. In this coordinate system, measured profile is output from scanner driver. Some scanners produce data in the form of distance (L) and angle. In this case, additional transformation from L to S is performed inside scanner’s driver. E – coordinate system with origin at manipulator’s end-point. M – internal coordinate system of manipulator. 0 – default coordinate system into which data are transformed.