Fig. 1. Diagram of line laser principle

Fig. 2. Robot with line laser scanning platform

Fig. 3. Schematic of the scanning process for the relief

Fig. 4. Three-coordinate instrument to collect marble plate

Fig. 5. Data acquisition and processing. (a) x direction plane data; (b) y direction plane data; (c) x-y data crossover; (d) taking the intersection of the data; (e) intersection interpolation

Fig. 6. Point laser data compensation results. (a) Second measurement result of deviation compensation;（b） third measurement result of deviation compensation

Fig. 7. Flow chart of embossed scanning

Fig. 8. Original point cloud translation process

Fig. 9. Slightly staggered point cloud after preprocessing

Fig. 10. Flow chart of splicing process

Fig. 11. Point cloud data after stitching

Fig. 12. Repeat part of the point cloud

Fig. 13. Point cloud after eliminating duplicates

Fig. 14. Point cloud data graph

Fig. 15. Point cloud after removing invalid data

Fig. 16. Tilt point cloud image

Fig. 17. Point cloud after horizontal calibration

Fig. 18. STL model

Fig. 19. Reconstruction comparison before and after model compensation. (a) Comparison with benchmark model before compensation; (b) comparison with benchmark model after compensation

Fig. 20. Schematic diagram of occlusion area

Fig. 21. Cross section of extreme value region