[06-30213][06-30241][06-25024]
Computer Vision and Imaging &
Robot Vision
Dr Hyung Jin Chang Dr Yixing Gao
h.j.chang@bham.ac.uk y.gao.8@bham.ac.uk
School of Computer Science
ACTIVE STEREO
Structured light stereo
• Idea:project„structured“lightpatternsovertheobject
• Correspondenceproblemsimplifies • Canuseonlyasinglecamera
Epipolar geometry still holds! projector
camera
Slide credit: Steve Seitz
Laser scanning
• Opticaltriangulation
• Projectalaserlightplane
Digital Michelangelo Project
http://graphics.stanford.edu/projects/mich/
• Moveoveranobject
• Veryprecisewaytoscanusingstructuredlight.
Slide credit: Steve Seitz
Obtained models
The Digital Michelangelo Project, Levoy et al.
Slide credit: Steve Seitz
Obtained models
The Digital Michelangelo Project, Levoy et al.
Slide credit: Steve Seitz
Still Working
Multi
• Projectmultiplebandstospeedupscanning • But,whichpixelsbelongtowhichband?
• Answer#1:Assumesmoothsurface
–
band triangulation
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Slide credit: Szymon Rusienkiewicz
Multi
• Projectmultiplebandstospeedupscanning • But,whichpixelsbelongtowhichband?
• Answer#2:Projectcolorbands(orpoints)
–
band triangulation
L. Zhang, B. Curless, and S. M. Seitz. Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming. 3DPVT 2002
Slide credit: Szymon Rusienkiewicz
Point triangulation
Accuracy and Resolution of Kinect Depth Data for Indoor
Mapping Applications
Kourosh Khoshelham and Sander Oude Elberink
• Projectapointpatternforultrafasttriangulation!
Real-Time Human Pose Recognition in Parts from a Single Depth Image, Jamie Shotton, Andrew Fitzgibbon, Mat Cook, Toby Sharp, Mark Finocchio, Richard Moore, Alex Kipman, and Andrew Blake CVPR 2011
Point triangulation
Accuracy and Resolution of Kinect Depth Data for Indoor
Mapping Applications
Kourosh Khoshelham and Sander Oude Elberink
Thank you
Hyung Jin Chang
15/03/2021