The Orbitoscope, a six-axis macro-imaging robot for photogrammetric 3D-digitization of insects and other small specimens

The Orbitoscope is an open-source six-axis macro-imaging robot that digitizes small specimens such as insects by keeping the specimen still and moving the camera around it, with an added axis for automated focus stacking. Using six insect specimens, the authors produced scaled, textured 3D models; on one specimen, measurements differed from calibrated microscope references by a mean absolute percent error of 0.52%.