Structured Light for 3D Scanning Implementation Details. Douglas Lanman EN : 3D Photography May 15, 2007
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1 Structured Light for D Scanning Implementation Details Douglas Lanman EN 9-4: D Photography May 5, 007
2 Gray Code Structured Lighting Point Grey Flea (5 04 x 768) Mitsubishi XD00U ( x 768) D Reconstruction using Structured Light [Inokuchi 984] Recover D depth for each pixel using ray-plane intersection Determine correspondence between camera pixels and projector planes by projecting a temporally-multiplexed binary image sequence Each image is a bit-plane of the Gray code for each projector row/column Structured Light for D Scanning References: [,]
3 Gray Code Structured Lighting Binary Image Sequence Each image is a bit-plane of the binary code for each projector row/column Minimum of 0 images to encode 04 columns or 768 rows In practice, 0 images are used to encode 04 columns or 768 rows Projector/camera(s) must be roughly synchronized Structured Light for D Scanning References: [,]
4 Gray Code Structured Lighting Gray Code Image Sequence Each image is a bit-plane of the Gray code for each projector row/column Requires same number of images as a binary image sequence, but has better performance in practice BinGray(B,G) G B for i n- downto 0 G[i] B[i+] xor B[i] Structured Light for D Scanning References: [,] 4
5 Gray Code Structured Lighting Recovered Rows Recovered Columns D Reconstruction using Structured Light [Inokuchi 984] Our implementation uses a total of 4 images ( to measure dynamic range, 0 to encode rows, 0 to encode columns) Individual bits assigned by detecting if bit-plane (or its inverse) is brighter Decoding algorithm: Gray code binary code integer row/column index Structured Light for D Scanning References: [,] 5
6 4 Overview of Projector-Camera Calibration Estimated Camera Lens Distortion Camera Calibration Procedure Uses the Camera Calibration Toolbox for Matlab by J.-Y. Bouguet Normalized Ray Distorted Ray (4 th -order radial + tangential) Predicted Image-plane Projection Structured Light for D Scanning References: [4,5,6] 6
7 Overview of Projector-Camera Calibration Estimated Projector Lens Distortion Projector Calibration Procedure Consider projector as an inverse camera (i.e., maps intensities to D rays) Observe a calibration board with a set of fidicials in known locations Use fidicials to recover calibration plane in camera coordinate system Project a checkerboard on calibration board and detect corners Apply ray-plane intersection to recover D position for each projected corner Use Camera Calibration Toolbox to recover intrinsic/extrinsic projector calibration using D D correspondences with 4 th -order radial distortion Structured Light for D Scanning References: [4,5,6] 7
8 Overview of Projector-Camera Calibration Y c (mm) Z c O Z c p Xc O p Y p Y c X c (mm) X p Z c O c Y c X c Z c (mm) Projector-Camera Calibration Results Implemented complete toolbox for projector-camera calibration Sufficient accuracy for structured lighting applications Future version will incorporate final global bundle adjustment Structured Light for D Scanning References: [4,5,6] 8
9 Gray Code Structured Lighting: Results Structured Light for D Scanning 9
10 References D Reconstruction using Structured Light. J. Salvi, J. Pages, and J. Batlle. Pattern Codification Strategies in Structured Light Systems. Pattern Recognition, April S. Inokuchi, K. Sato, and F. Matsuda. Range Imaging System for D Object Recognition. Proceedings of the International Conference on Pattern Recognition, 984. Projector and Camera Calibration Methods. R. Legarda-Sáenz, T. Bothe, and W. P. Jüptner. Accurate Procedure for the Calibration of a Structured Light System. Optical Engineering, R. Raskar and P. Beardsley. A Self-correcting Projector. CVPR S. Zhang and P. S. Huang. Novel Method for Structured Light System Calibration. Optical Engineering, J.-Y. Bouguet. Complete Camera Calibration Toolbox for Matlab. Visual Hull: Silhouette-based D Reconstruction 7. A. Laurentini. The Visual Hull Concept for Silhouette-based Image Understanding. IEEE Transactions on Pattern Analysis and Machine Intelligence, 994. Structured Light for D Scanning 0
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