雙影像多視角結構光轉三維點資料技術發展

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姓名

李俊明(LEE,JUN-MING) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

雙影像多視角結構光轉三維點資料技術發展
(Development of three-dimensional modeling by duo-images and multi-view with structure light technique)

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摘要(中)

本研究以開發三維物體重建系統為目的。分別以彩色條紋結構光與Realsense™三維相機擷取物體點雲，並且將點雲重建維三維物體模型。
本論文以二維相片為基礎，透過定位片校正相機之內部參數與外部參數，還原出三維成像平面，並且以投影彩色條紋結構光，以兩台相機與多重視角拍攝，透過影像辨識系統及條紋編碼系統，將二維相片的資訊，計算出物體表面三維點雲。
此外亦透過Realsense™三維相機，擷取物體表面三維點雲，並且透過迭代最近點運算法，將多組點雲重新結合成一個完整的物體點雲，並且重建三維物體網格，而後以原始物體照片進行物體表面紋理貼圖。
本論文以數個模型作為範例，利用本論文所提出的三維物體重建系統，拍攝物體且重建物體模型，並且比對原始物體模型，以驗證本研究之正確性。

摘要(英)

This study develops a 3-dimensional object model reconstruction system. By using color stripe structure light pattern and a Realsense™ camera to capture the object surface point cloud, and then to rebuild the 3-dimensional object model.
The system uses a calibration plateau as reference, by capturing their 2-D images, calculates the internal and external parameters of the camera, and rebuild a 3-D imaging plane. Projecting the encoded color-stripe pattern structure light on the object, we use two cameras and multi-view in the capturing process. Through image recognition system and stripe indexing system, we calculate the 3-D point cloud of the object surface by these 2-D image data.
We also use Realsense™ 3-D camera to capture the surface point cloud, and combine multiple sets of point clouds by iterative closed point algorithm. Rebuild the 3-D object mesh, and use origin object color images to apply surface texture.
We use several objects as example, applying the 3-Dimension object model reconstruction system. Capture the object images and rebuild 3-D model, and compare with Rough Models to verify the accuracy of the study.

關鍵字(中)

★ 彩色條紋結構光
★ 條紋編碼
★ Realsense
★ 點雲

關鍵字(英)

★ color-stripe
★ stripe indexing
★ Realsense
★ point cloud

論文目次

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 VIII
符號說明 IX
第一章緒論 1
1-1研究背景 1
1-2文獻回顧 2
1-2-1 三角測距法 2
1-2-2 結構光 5
1-3研究目的 10
1-4論文架構 11
第二章基礎理論 12
2-1直接線性轉換法 12
2-2結構光投影技術 16
2-2-1三角量測 16
2-2-2彩色條紋 18
2-3 影像辨識 19
2-3-1條紋辨識 19
2-3-2色彩辨識 20
2-3 相機校正 22
2-4 RealSense™三維相機 25
2-5迭代最近點運算法 26
2-6 小結 28
第三章重建三維物體點雲 29
3-1拍攝系統設計 29
3-1-1影像拍攝架構 29
3-1-2結構光樣式 30
3-2條紋辨識及編碼 32
3-2-1條紋辨識 33
3-2-2彩色編碼 36
3-3三維點雲重建 37
3-4雜訊處理 40
3-5小結 41
第四章 RealSense™ 相機研究 42
4-1RealSense™三維相機 42
4-2拍攝人機介面 43
4-2-1影像擷取系統 44
4-2-2雜訊處理系統 46
4-3點雲結合與網格重建 47
4-4小結 50
第五章實驗結果與討論 51
5-1彩色條紋結構光重建三維點雲 51
範例1：球狀物體 53
範例2：立方體 56
範例3：人像 59
5-2 Realsense™三維相機重建三維點雲 64
範例1：人像 65
範例2：Hello kitty模型 67
範例3：運動鞋 69
範例4：木雕馬 70
5-3小結 73
第六章結論與未來展望 74
6-1結論 74
6-2未來展望 75
參考文獻 76

參考文獻

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指導教授

李朱育(Juyi Lee)

審核日期

2016-12-19

推文