  In this paper we introduce a novel platform for dense 3D modelling. This
platform is an active image acquisition setup assisted with a set of light
sources and a distance sensor. The hardware setup is designed for being mounted
on a mobile robot which is remotely driven to create accurate dense 3D models
from out-of-reach objects. For this reason, the object is actively illuminated
by the imaging setup and Photometric Stereo is used to recover the dense 3D
model. The proposed image acquisition setup, called LightPanel, is described
from design to calibration and discusses the practical challenges of using
Photometric Stereo under uncontrolled lighting conditions.
