Click to edit Master title styleTwo line title,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,*,Click to edit Master title styleTwo line title,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,*,三維信息獲取與重構(gòu)技術(shù),實(shí)體三維信息獲取與重構(gòu),Rendering,Shape,Lighting,and,Reflectance,Motion,Shape,3D Scanning,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法背景,C1,一個圖像點(diǎn)對應(yīng)著多個空間點(diǎn)（一條直線無法確定一個點(diǎn)）,C2,雙攝像機(jī)可確定空間點(diǎn),（兩條直線相交可確定一個點(diǎn)）,立體視覺,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法背景,C1,立體視覺的關(guān)鍵,兩幅圖像中對應(yīng)點(diǎn)的確定,C2,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法背景,C1,對應(yīng)點(diǎn)的確定,C2,光源,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法背景,結(jié)構(gòu)光,系統(tǒng)構(gòu)成,投影儀代替攝像機(jī),投射特定光源解決對應(yīng)問題,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法基本原理,相似三角形,平行直線,推導(dǎo),結(jié)構(gòu)光系統(tǒng)建模,相似三角形,平行直線,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法標(biāo)定,結(jié)構(gòu)光系統(tǒng)標(biāo)定,相似三角形,平行直線,標(biāo)定參數(shù)：,基線,b,攝像機(jī)焦距,f,投影儀投影角,Computer Vision,Dept.of Communication Eng.,結(jié)構(gòu)光法編碼光,光源設(shè)計,各種編碼方式,Camera,Laser Triangulation,Depth from ray-plane triangulation,Object,Laser,(x,y),In order to obtain a full range image,what is necessary?,a system must have some methods of determining which stripe is which,Slow,robust,Fast,fragile,Multi-stripe,Multi-frame,Single-frame,Single-stripe,Color direct coding,Colored dots Davies 96,A gray wedge Carrihill 85,*,Reflectivity assumption,Eg.,Fails if the surface is textured,Spatial neighborhood,Boyer 87,Proesmans 96,*,Spatial coherence,（空間相關(guān)）,assumption,Eg.,Fails if surface contains discontinuities,0,1,Time-multiplexing,Sato 87,*,Temporal coherence,（時間相關(guān)）,assumption,Eg.,Take several frames to compute depth,Time,1010,0000,Time-multiplexing,Pattern 1,Pattern 2,Pattern 3,隨時間投影,該像素的編碼值:,1010010,用于識別該點(diǎn)的對應(yīng)關(guān)系,Designing a Code,Project,Code,Capture,Images,Find,Boundaries,Match,Boundaries,Decode,Compute,Range,Time,Space,Designing a Code,Design a code to make tracking possible:,Do not allow two,spatially,adjacent ghosts,Do not allow two,temporally,adjacent ghosts,t,Space,Time,000,001,011,101,111,110,100,010,Graph(for 3 frames):,Edges:boundaries(over time),Nodes:stripes(over time),Designing a Code,Designing a Code,Graph(for 3 frames):,56 edges in graph,maximal-length traversal has 64 boundaries(65 stripes),Boundary visible at one time,Boundary visible at two or three times,000,001,011,101,111,110,100,010,Matching Stripe Boundaries,Project,Code,Capture,Images,Find,Boundaries,Match,Boundaries,Decode,Compute,Range,Even if number of ghosts isminimized,matching is not easy,?,Calibration,y,x,O,f,P,X(u,v,f),CP(Camera plane),X(x,y,z),L,S(Light plane),PP(Projector plane),X,0,z,q,Calibration,n,P,P,1,(,x,1,y,1,z,1,),P,2,(,x,2,y,2,z,2,),P,3,(,x,3,y,3,z,3,),Line2,Line1,Line3,Results,projector,CCD,Cup,Results,Video,frames,Stripe,boundaries,Results,Multiple views by a free-mobile camera,Baumgart,Aggarwal,Potmesil,Laurentini,1974,1983-1986,1987-1989,1991,Multiple views by a free-mobile camera,“,Wa Wa”,“,Athlete”,Multiple views by a free-mobile camera,左攝像機(jī)：,右攝像機(jī)：,),(,z,y,x,P,2,z,2,y,x,2,Y,1,X,2,X,2,x,1,x,1,Y,1,y,1,z,y,z,),(,1,1,Y,X,),(,2,2,Y,X,o,1,o,2,o,1,O,2,O,),(,2,2,2,z,y,x,),(,1,1,1,z,y,x,1,f,2,f,Multiple views by a free-mobile camera,Multiple views by a free-mobile camera,Real-Time,Reconstruction,