结构光3D扫描原理课件-经典必看.ppt

结构光3D扫描原理课件-经典必看.ppt

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ComputerVision,Spring201915-385,-685Instructor:

S.NarasimhanWean5403T-R3:

00pm4:

20pmLecture#17,StructuredLight+RangeImagingLecture#17,（ThankstoSlidesfromLevoy,Rusinkiewicz,Bouguet,Perona）,3DScanning,StructuredLightReconstruction,AvoidproblemsduetocorrespondenceAvoidproblemsduetosurfaceappearanceMuchmoreaccurateVerypopularinindustrialsettingsReading:

MarcLevoyswebpages（Stanford）KatsuIkeuchiswebpages（UTokyo）PeterAllenswebpages（Columbia）,StereoTriangulation,I,J,Correspondenceishard!

I,J,StructuredLightTriangulation,Correspondencebecomeseasier!

StructuredLight,Anyspatio-temporalpatternoflightprojectedonasurface（orvolume）.Cleverlyilluminatethescenetoextractsceneproperties（eg.,3D）.Avoidsproblemsof3Destimationinsceneswithcomplextexture/BRDFs.Verypopularinvisionandsuccessfulinindustrialapplications（partsassembly,inspection,etc）.,LightStripeScanningSingleStripe,Camera,Source,Surface,Lightplane,OpticaltriangulationProjectasinglestripeoflaserlightScanitacrossthesurfaceoftheobjectThisisaverypreciseversionofstructuredlightscanningGoodforhighresolution3D,butneedsmanyimagesandtakestime,Triangulation,Projectlaserstripeontoobject,Object,LightPlane,Triangulation,Depthfromray-planetriangulation:

Intersectcameraraywithlightplane,Laser,Object,LightPlane,ImagePoint,Example:

Laserscanner,Cyberwarefaceandheadscanner,+veryaccurate0.01mmmorethan10secperscan,DigitalMichelangeloProjectgraphics.stanford.edu/projects/mich/,Example:

Laserscanner,Portable3Dlaserscanner（thisonebyMinolta）,FasterAcquisition?

ProjectmultiplestripessimultaneouslyCorrespondenceproblem:

whichstripeiswhich?

Commontypesofpatterns:

BinarycodedlightstripingGray/colorcodedlightstriping,BinaryCoding,Pattern1,Pattern2,Pattern3,Projectedovertime,Example:

3binary-encodedpatternswhichallowsthemeasuringsurfacetobedividedin8sub-regions,Faster:

stripesinimages.,BinaryCoding,AssigneachstripeauniqueilluminationcodeovertimePosdamer82,Space,Time,BinaryCoding,Pattern1,Pattern2,Pattern3,Projectedovertime,Example:

7binarypatternsproposedbyPosdamer&Altschuler,Codewordofthispxel:

1010010identifiesthecorrespondingpatternstripe,Morecomplexpatterns,Zhangetal,Worksdespitecomplexappearances,Worksinreal-timeandondynamicscenes,Needveryfewimages（oneortwo）.Butneedsamorecomplexcorrespondencealgorithm,ContinuumofTriangulationMethods,Slow,robust,Fast,fragile,3DAcquisitionfromShadows,Bouguet-Perona,ICCV98,3DModelAcquisitionPipeline,3DScanner,3DModelAcquisitionPipeline,3DScanner,3DModelAcquisitionPipeline,3DScanner,3DModelAcquisitionPipeline,3DScanner,3DModelAcquisitionPipeline,3DScanner,3DModelAcquisitionPipeline,3DScanner,Real-Time3DModelAcquisition,NextClass,PolyhedralObjectsandLineDrawingReadingNotes,