3D Reconstruction & Scanning - Dongseo
Transcript of 3D Reconstruction & Scanning - Dongseo
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3D Reconstruction & Scanning
http://graphics.stanford.edu/projects/mich/
The Digital Michelangelo Project 1997~9
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Agenda
4/28/2015 [email protected] 2
Multiple View Geometry
Depth Camera
Structured Light
Camera Calibration
Projector Calibration
http://www.ten24.info/
http://www.youtube.com/watch?v=j4waCVRgBWI
http://www.youtube.com/watch?v=Wgp0Cg3UFA4
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4/28/2015 [email protected] 3
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4/28/2015 [email protected] 4
Projective Transformations
Camera Calibration
Epipolar Geometry
Feature Points
Correspondence Search
RANSAC Algorithm
3D Reconstruction
SIFT&ASIFT
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Scale-invariant feature transform (or
SIFT) is an algorithm in computer vision to
detect and describe local features in images.
The algorithm was published by David Lowe in
1999.
Applications include object recognition, robotic
mapping and navigation, image stitching, 3D
modeling, gesture recognition, video tracking,
and match moving.
The algorithm is patented in the US; the owner
is the University of British Columbia.
….
David Lowe
Computer Science Department
University of British Columbia
2015-04-28 5
Scale Invariant Feature Transform
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Depth Camera
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Motion sensing input device by Microsoft
Depth camera tech. developed by PrimeSense Invented in 2005
Software tech. developed by Rare
First announced at E3 2009 as “Project Natal”
Windows SDK Releases
7
Microsoft Kinect
http://www.microsoft.com/en-us/kinectforwindows/discover/features.aspx
[email protected] 4/28/2015
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4/28/2015 [email protected] 8
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Structured Light + Range Imaging
http://www.cs.cmu.edu/afs/cs/academic/class/15385-s06/lectures/ppts/lec-17.ppt
http://www.sci.utah.edu/~gerig/CS6320-S2012/CS6320_3D_Computer_Vision.html
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Example: Laser scanner
4/28/2015 [email protected] 13
Digital Michelangelo Project http://graphics.stanford.edu/projects/mich/
+ very accurate < 0.01 mm
− more than 10sec per scan
Cyberware® face and head scanner
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Leica ScanStation C10
4/28/2015 [email protected] 16
http://www.youtube.com/watch?v=cUI6HD_d89k
http://www.youtube.com/watch?v=1lDO1UevAJI
http://www.youtube.com/watch?v=cxTYYce_d_8
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LMS LIDAR scanner from SICK
4/28/2015 [email protected] 18
https://www.youtube.com/watch?v=yfQhEiq48YA
https://www.youtube.com/watch?v=aL-Ihvu0ugo
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Continuum of Triangulation Methods
4/28/2015 [email protected] 20
Slow, robust Fast, fragile
Multi-stripe
Multi-frame
Single-frame Single-stripe
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Faster Acquisition?
4/28/2015 [email protected] 21
Project multiple stripes simultaneously
Correspondence problem: which stripe is which?
Common types of patterns:
Binary coded light striping
Gray/color coded light striping
http://vimeo.com/37090394
http://www.youtube.com/watch?v=a6g17-4FmFo
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Structured Light Projection Classification
4/28/2015 [email protected] 22
Jason Geng, "Structured-light 3D surface imaging: a tutorial," Adv. Opt. Photon. 3, 128-160 (2011)
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Binary Coding
4/28/2015 [email protected] 23
Projected
over time
Pattern 1
Pattern 2
Pattern 3
Example: 7 binary
patterns proposed
by Posdamer &
Altschuler
…
Codeword of this píxel: 1010010
identifies the corresponding pattern stripe
J. L. Posdamer and M. D. Altschuler. Surface measurement by space-encoded projected beam systems. Computer Graphics and Image Processing, 18:1–17, 1982.
Space
Time
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4/28/2015 [email protected] 24
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4/28/2015 [email protected] 25
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Agenda
4/28/2015 [email protected] 40
Fringe Projection Techniques
Three step phase shifting algorithm
http://www.jove.com/video/50421/high-resolution-high-speed-three-dimensional-video-imaging-with
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4/28/2015 [email protected] 53
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4/28/2015 [email protected] 55
http://www.jove.com/video/50421/high-resolution-high-speed-three-dimensional-video-imaging-with
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Pinhole Camera Model
4/28/2015 [email protected] 63
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Camera rotation and translation
4/28/2015 [email protected] 65
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Projector Calibration
Daniel Moreno and Gabriel Taubin
Brown University School of Engineering
Projector-Camera Calibration / 3D Scanning Software
http://mesh.brown.edu/calibration/
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3D Model Acquisition Pipeline
4/28/2015 [email protected] 99
3D Scanner
Alignment
Merging
View Planning
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3D Model Acquisition Pipeline
4/28/2015 [email protected] 100
3D Scanner
Alignment
Merging Done?
View Planning
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3D Model Acquisition Pipeline
4/28/2015 [email protected] 101
3D Scanner
Alignment
Merging Done?
View Planning
Display
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Stanford Multi-Camera Array
4/28/2015 [email protected] 103
http://graphics.stanford.edu/projects/array/
640 × 480 pixels × 30 fps × 128 cameras
synchronized timing
continuous streaming
flexible arrangement
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Stanford Light Field Archive
4/28/2015 [email protected] 104
http://lightfield.stanford.edu/lfs.html
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Stanford Light Field Archive
4/28/2015 [email protected] 105
http://lightfield.stanford.edu/lfs.html
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Adaptive Optics Microlens Array
4/28/2015 [email protected] 107
Adaptive Optics microlens array
125μ square-sided microlenses
4000 × 4000 pixels ÷ 292 × 292 lenses = 14 × 14 pixels per lens
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Adobe LightField Camera
4/28/2015 [email protected] 108
http://lightfield-forum.com/light-field-camera-prototypes/adobe-lightfield-camera-protypes/