1. --- Stereoscopic Vision and Range Finders
Chapter Three:
3-D Data Acquisition
--- Stereoscopic Vision and Range Finders
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2. Representation of 3D data
Chapter 3: Acquisition of 3-D Data
Representation of 3D data
range images
image format
shaded image
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3. Chapter 3: Acquisition of 3-D Data
Non-Touching Methods
Passive methods: shading and texture analysis stereo cameras motion analysis lens focusing
Active methods: photometric stereo structured lights radar sensing
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4. Principle of stereo vision Methods of correspondence searching
Chapter 3: Acquisition of 3-D Data
Main Topics
Principle of stereo vision
Methods of correspondence searching
Range finders based on laser scanning
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5. Chapter 3: Acquisition of 3-D Data
Visual System of Human Brain
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6. Chapter 3: Acquisition of 3-D Data
Stereograms: Random Dots
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7. Chapter 3: Acquisition of 3-D Data
Stereograms: Recovered Depth
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8. Stereoscopic Viewing Chapter 3: Acquisition of 3-D Data 2018/11/24
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9. A Stereo Vision System Chapter 3: Acquisition of 3-D Data 2018/11/24
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10. Problem Statements Compute 3-D coordinates for a point
Chapter 3: Acquisition of 3-D Data
Problem Statements
Compute 3-D coordinates for a point
in space from its image coordinates in
two images taken with a stereo vision
system.
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11. Object-centered system
Chapter 3: Acquisition of 3-D Data
Definition of Coordinate Systems
Object-centered system
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12. Definition of Coordinate Systems
Chapter 3: Acquisition of 3-D Data
Definition of Coordinate Systems
Camera head system
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13. triangulation principle
Chapter 3: Acquisition of 3-D Data
Definition of Coordinate Systems r W V U R
Computation based on
triangulation principle
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14. Epipolar Constraints Chapter 3: Acquisition of 3-D Data 2018/11/24
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15. A Depth Image from Stereo
Chapter 3: Acquisition of 3-D Data
A Depth Image from Stereo
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16. Correspondence Problem
Chapter 3: Acquisition of 3-D Data
Correspondence Problem
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17. Ambiguity in Correspondence
Chapter 3: Acquisition of 3-D Data
Ambiguity in Correspondence
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18. Correlation-Based Correspondence
Chapter 3: Acquisition of 3-D Data
Correlation-Based Correspondence
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19. Peak Detection sharp peak smooth peak
Chapter 3: Acquisition of 3-D Data
Peak Detection
sharp peak
smooth peak
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20. Aperture Problem Chapter 3: Acquisition of 3-D Data 2018/11/24
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21. Feature Matching by Relaxation
Chapter 3: Acquisition of 3-D Data
Feature Matching by Relaxation
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22. A Range Finder System Chapter 3: Acquisition of 3-D Data 2018/11/24
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23. Laser slit images Chapter 3: Acquisition of 3-D Data 2018/11/24
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24. A laser slit and a camera
Chapter 3: Acquisition of 3-D Data
Laser Scanner
A laser slit and a camera
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25. Geometrical relationship
Chapter 3: Acquisition of 3-D Data
Laser Scanner
Geometrical relationship
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26. Laser Scanner: Vivid 700 Chapter 3: Acquisition of 3-D Data 2018/11/24
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27. Laser Scanner: Fast Scan
Chapter 3: Acquisition of 3-D Data
Laser Scanner: Fast Scan
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28. Chapter 3: Acquisition of 3-D Data
Laser Scanner: Cyrax 2500
A portable laser scanner produced origianlly by Cyra, Canada, and now by Leica, Switzerland
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29. Time-of-Flight Imaging Radar
Chapter 3: Acquisition of 3-D Data
Time-of-Flight Imaging Radar
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30. A Video Clip from Cyra
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