本論文提出了一個低成本且易於使用的小物件3D掃描系統。因為價格及普及度，我們使用Kinect作為掃描器，它可以提供即時深度影像，作為系統的輸入使用。微軟曾提出名為KinectFusion的演算法，用以建構場景的3D模型，我們的系統為基於KinectFusion演算法的延伸應用，讓使用者可以以手拿物件的方式，在Kinect前面旋轉物件以完成掃描，且使用者不需戴手套或調整任何顏色參數。在掃描的過程中，系統將顯示目前已完成的模型，作為使用者的參考。KinectFusion演算法使用體素及truncated signed distance function (TSDF) 做為3D模型的平面表示方法，如此可有效利用GPU平行運算，以達到即時的效果。有別於以往系統需要戴手套，以顏色區分手部資訊的方法，我們改良TSDF的整合方式以達到自動去除手部干擾的效果。因於Kinect的雜訊特性，在深度影像的邊緣部分容易產生較大誤差，所以我們使用gradient thresholding的方法去除影像邊緣。因為我們對於整合方式的修改，降低了疊合時產生的誤差，以省去後處理的步驟。整個系統的流程為，Kinect擷取深度影像後傳送至個人電腦，經過個人電腦內的GPU進行平行運算，產生模型並即時顯現於螢幕上，使用者依據目前的模型逐漸掃描完成。

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