||3D Object Modelling via Registration of Stereo Range Data
||Møller, Kenneth Haugaard
||Carstensen, Jens Michael (Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Aanæs, Henrik (Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
||Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
||Stereo vision has several advantages over other 3D imaging methods, but still it is mainly active solutions that are established on the market of commercial 3D modelling equipment. However, papers have recently been published presenting real time stereo matching on the GPU. So with the increasing demand for cheap 3D scanners and the advances of computer power along with new possibilities of efficient image processing on graphics hardware, the time has come to explore the full potential of stereo vision.
Assuming real time stereo range data is available, this thesis is a feasibility study of whether real time stereo can produce good enough results for creating an online preview of the scanning process. Being able to see the incrementally building model as it is scanned acts as a sort of online view planning and has huge advantages in flexibility and the amount of time used when doing 3D scanning.
To test this, a system for acquisition of real time stereo data has been built. The implemented stereo matching algorithm is based on summation of different support region levels to ensure robustness and maintain the distinct features of the objects topology. Assembling the model is done via registration of the range data using the Iterative Closest Point algorithm, and finally a simple and fast way of merging the aligned data, suitable for incremental integration of a real time system, is presented.
Problems, limitations and advantages of such a system are discussed along with proposals and needs in order to obtain a fully operational 3D modelling system. Finally, the system is tested on a variety of objects differing in shape and texture, and the good results are presented.
||Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU : DK-2800 Kgs. Lyngby, Denmark
||3D modelling; 3D scanning; stereo matching; stereo correspondence; range data registration; Iterative Closest Point; real time preview
Creation date: 2006-10-06
Update date: 2012-12-18