计算机视觉21 10.2 测距成像系统.ppt

* 3D scanning becoming widely used, both in traditional areas like model building for movies and in new areas such as art history and archeology. * Here we see five frames from water flow sequence. Standard stereo method considers one pair of images. For each pixel in one image, we look for corresponding pixel in the other image. Then we intersect the line of sight to reconstruct the 3D surface. The key problem is computing correspondence. A simple way to do it is for each in the left image, we look for pixels on the same row in the right image and choose the pixel with most similar color. This can be done by minimizing the following error function. * * The first stage in the real-time pipeline is the range scanner. It’s based on the idea of triangulation. In the simplest case, this consists of projecting a stripe of light onto a scene, looking at it from an angle… * … and triangulating between a plane from the point of view of the light source and a ray from the point of view of the camera. In the simplest case of a laser triangulation scanner, this yields data from a single contour on the object at a time, and you can sweep the line across the surface to stack up a bunch of these contours and get a scan of an entire patch of surface. * * * * Just as an example, here’s a very simple code based on binary numbers. If you look at a single position in space (i.e., a single pixel), you see a certain on/off pattern over these four frames. This conveys a code that tells you which stripe you are looking at, which gives you a plane in space with which you can then triangulate to find depths. * * * There’s a continuum of methods we can use to establish these correspondences. At one extreme are single-stripe systems. These never have the problem of ambiguity, so they produce very high-quality data, but they take a long time to do it. At the other extreme are systems that try to get all the data at once by projecting lots of stripes (or, in this case, dots). They ar