《結(jié)構(gòu)光原理擴(kuò)展》PPT課件.ppt

1、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,Computer Vision,Dept. of Communication Eng.,結(jié)構(gòu)光法背景,C1,一個(gè)圖像點(diǎn)對(duì)應(yīng)著多個(gè)空間點(diǎn)（一條直線無法確定一個(gè)點(diǎn)）,雙攝像機(jī)可確定空間點(diǎn) （兩條直線相交可確定一個(gè)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(duì)應(yīng)點(diǎn)的確定,C2,Computer Vision,Dept. of Communication

2、Eng.,結(jié)構(gòu)光法背景,C1,對(duì)應(yīng)點(diǎn)的確定,C2,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(duì)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 Visi

3、on,Dept. of Communication Eng.,結(jié)構(gòu)光法編碼光,光源設(shè)計(jì),各種編碼方式,Laser Triangulation,Depth from ray-plane triangulation,Object,(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,Color direct coding,Colored

4、 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(shí)間相關(guān)） assumption Eg.

5、Take several frames to compute depth,Time-multiplexing,Pattern 1,Pattern 2,Pattern 3,隨時(shí)間投影,該像素的編碼值: 1010010 用于識(shí)別該點(diǎn)的對(duì)應(yīng)關(guān)系,Designing a Code,Project Code,Capture Images,Find Boundaries,Match Boundaries,Decode,Compute Range,Designing a Code,Design a code to make tracking possible: Do not allow two spatia

6、lly adjacent ghosts Do not allow two temporally adjacent ghosts,t,Graph (for 3 frames):,Edges: boundaries (over time),Designing a Code,Designing a Code,Graph (for 3 frames):,56 edges in graph maximal-length traversal has 64 boundaries (65 stripes),Matching Stripe Boundaries,Project Code,Capture Imag

7、es,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),X0,z,q,Calibration n,P,Results,projector,CCD,Cup,Results,Video frames,Stripe boundaries,Results,Multiple views by a free-mobile camera,Multiple views by a free-mobile camera,“Wa Wa”,“Athlete ”,Multiple views by a free-