Automatic foot scanning and measurement based on multiple RGB-depth cameras

In this paper, a system with six depth cameras was built to scan both feet simultaneously. An improved calibration method based on a T-shaped checkerboard was used to calculate the extrinsic parameters of the cameras. T-shaped virtual checkerboards were introduced to further fine-tune the accuracy of calibration based on the iterative closest point algorithm. Based on the proposed foot scanner, a complete procedure was introduced to measure the foot automatically by locating the anatomical landmarks without manual intervention. Various experiments were presented to validate the performance of the scanner and the measurements. The results verified that the proposed methods were efficient and versatile for three-dimensional foot scanning and measurement.