The development of a low-cost photogrammetry-based 3D hand scanner

Yusheng Yang, Jun Xu, Willemijn S. Elkhuizen, Yu Song*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

8 Citations (Scopus)
300 Downloads (Pure)


Acquiring an accurate 3D scan of the human hand is a challenging task, mainly due to the complicated geometry and the instability of the hand. In this paper, we present a low-cost photogrammetry-based scanner that is designed for scanning the human hand. The scanner has fifty modules, each has a Raspberry Pi with an 8-megapixels camera. They are uniformly positioned in two parallel frames and 96% of a hand surface can be viewed by at least 3 cameras. Using the timestamp method, we synchronize the shutters of the 50 cameras within the range of 80 ms to minimize the influence of the instability of the hand. Moreover, the scanner is easy to build with its modular design, and easy to operate with a laptop that is connected to the system by WiFi. Using a 3D printed prosthetic hand, we compared the 3D scanning accuracy of the proposed scanner with the Artec Spider® scanner. The mean absolute error between the two scans is 0.62 ± 0.28 mm. It is concluded that the proposed hand scanner can be used as a low-cost yet accurate tool in many applications, such as personalized product design.

Original languageEnglish
Article numbere00212
Number of pages17
Publication statusPublished - 2021


  • 3D scan
  • Photogrammetry
  • Raspberry Pi


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