计算机视觉课件_LC21_cvln_intro.ppt

3D Computer Vision Dr. Shengyong Chen Email: sy@ Why vision? Vision = geometry + measurements + interpretation Content Introduction Stereo Vision Structured light vision system Active vision for robots Laboratory Introduction The eyes Methods of 3D vision The Eyes The Eyes Projection from the Retina The Optic Chiasm Retinotopic organization Mapping of Visual Areas Further Further Introduction The eyes Methods of 3D Vision Laser Ranging Systems Laser ranging works on the principle that the surface of the object reflects laser light back towards a receiver which then measures the time (or phase difference) between transmission and reception in order to calculate the depth. Laser Ranging Systems Most laser rangefinders: Work at long distances (greater than 15m) Consequently their depth resolution is inadequate for detailed vision tasks. Shorter range systems exist but still have an inadequate depth resolution (1cm at best) for most practical industrial vision purposes. Structured Light Methods Project patterns of light (grids, stripes, elliptical patterns etc.) onto an object. Surface shapes are then deduced from the distortions of the patterns that are produced on Objects Surface. Knowing relevant camera and projector geometry, depth can be inferred by triangulation. Many methods have been developed using this approach. Major advantage -- simple to use. Low spatial resolution -- patterns become sparser with distance. Some close range (4cm) sensors exist with good depth resolution (around 0.05mm) but have very narrow field of view and close range of operation. Moire Fringe Methods A moire projection system Moire Fringe Methods Moire fringe patterns Shape from Shading Methods To employ photometric stereo techniques to produce depth measurements. Using a single camera, two or more images are taken of an object in a fixed position but under different lighting conditions. By studying the changes in brightness over a surface and employing constraints in t