《结构光原理扩展》PPT课件

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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RenderingShapeLightingandReflectanceMotionShape3DScanningComputerVisionDept.ofCommunicationEng.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）C2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ComputerVisionDept.ofCommunicationEng.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C2ComputerVisionDept.ofCo

2、mmunicationEng.结构光法背景C1对应点的确定C2光源ComputerVisionDept.ofCommunicationEng.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ComputerVisionDept.ofCommunicationEng.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ComputerVisionDept.ofCommunicationEng.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ComputerVisio

3、nDept.ofCommunicationEng.结构光法编码光光源设计各种编码方式CameraLaserTriangulationDepthfromray-planetriangulationObjectLaser(x,y)Inordertoobtainafullrangeimage,whatisnecessary?asystemmusthavesomemethodsofdeterminingwhichstripeiswhichSlow,robustFast,fragileMulti-stripeMulti-frameSingle-

4、frameSingle-stripe••ColordirectcodingColoreddots[Davies96]Agraywedge[Carrihill85]*ReflectivityassumptionEg.FailsifthesurfaceistexturedSpatialneighborhood[Boyer87][Proesmans96]*Spatialcoherence（空间相关）assumptionEg.Failsifsurfacecontainsdiscontinuities01Time-multiplexing[Sa

5、to87]*Temporalcoherence（时间相关）assumptionEg.TakeseveralframestocomputedepthTime10100000Time-multiplexingPattern1Pattern2Pattern3随时间投影该像素的编码值:1010010用于识别该点的对应关系DesigningaCodeProjectCodeCaptureImagesFindBoundariesMatchBoundariesDecodeComputeRangeTimeSpaceDesigningaCodeDesi

6、gnacodetomaketrackingpossible:DonotallowtwospatiallyadjacentghostsDonotallowtwotemporallyadjacentghoststSpaceTime000001011101111110100010Graph(for3frames):Edges:boundaries(overtime)Nodes:stripes(overtime)DesigningaCodeDesigningaCodeGraph(for3frames):56edgesingraphmaxi

7、mal-lengthtraversalhas64boundaries(65stripes)BoundaryvisibleatonetimeBoundaryvisibleattwoorthreetimes000001011101111110100010MatchingStripeBoundariesProjectCodeCaptureImagesFindBoundariesMatchBoundariesDecodeComputeRangeEvenifnumberofghostsisminimized,matchingisnoteasy

8、?CalibrationyxOfPX(u,v,f)CP(Cameraplane)X(x,y,z)LS(Lightplane)PP(Projectorplane)X0●z●q●●●Calibrationn●P●●●P1(x