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1、三维信息获取与重构技术,实体三维信息获取与重构,Shape,LightingandReflectance,Motion,Computer Vision,Dept.of Communication Eng.,结构光法背景,C1,一个图像点对应着多个空间点（一条直线无法确定一个点）,双摄像机可确定空间点（两条直线相交可确定一个点）,立体视觉,Computer Vision,Dept.of Communication Eng.,结构光法背景,C1,立体视觉的关键,两幅图像中对应点的确定,C2,Computer Vision,Dept.of Communication Eng.,结构光法背景,C1,对
2、应点的确定,C2,Computer Vision,Dept.of Communication Eng.,结构光法背景,结构光系统构成,投影仪代替摄像机投射特定光源解决对应问题,Computer Vision,Dept.of Communication Eng.,结构光法基本原理,相似三角形平行直线,推导,结构光系统建模,相似三角形,平行直线,Computer Vision,Dept.of Communication Eng.,结构光法标定,结构光系统标定,相似三角形,平行直线,标定参数：基线b摄像机焦距f投影仪投影角,Computer Vision,Dept.of Communication
3、Eng.,结构光法编码光,光源设计,各种编码方式,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 dots Davies 96A gray wedge C
4、arrihill 85,*Reflectivity assumption Eg.Fails if the surface is textured,Spatial neighborhood,Boyer 87Proesmans 96,*Spatial coherence（空间相关）assumptionEg.Fails if surface contains discontinuities,01,Time-multiplexing,Sato 87,*Temporal coherence（时间相关）assumptionEg.Take several frames to compute depth,Ti
5、me-multiplexing,Pattern 1,Pattern 2,Pattern 3,随时间投影,该像素的编码值:1010010 用于识别该点的对应关系,Designing a Code,ProjectCode,CaptureImages,FindBoundaries,MatchBoundaries,Decode,ComputeRange,Designing a Code,Design a code to make tracking possible:Do not allow two spatially adjacent ghostsDo not allow two temporally
6、 adjacent ghosts,t,Graph(for 3 frames):,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,ProjectCode,CaptureImages,FindBoundaries,MatchBoundaries,Decode,ComputeRange,Even if number of ghosts ism
7、inimized,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,Videoframes,Stripeboundaries,Results,Multiple views by a free-mobile camera,Multiple views by a free-mobile camera,“Wa Wa”,“Athlete”,Multiple views by a free-mobile camera,Multiple views by a free-mobile camera,Multiple views by a free-mobile camera,Real-Time Reconstruction,
