3D photography Marc Pollefeys Fall 2008 http://www.inf.ethz.ch/personal/pomarc/courses/3dphoto/
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3D Photography Obtaining 3D shape (and appearance) of real-world objects
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Motivation Applications in many different areas A few examples
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Surgery - simulation simulate results of surgery allows preoperative planning
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Surgery - teaching Capture models of surgery for interactive learning
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Clothing Scan a person, custom-fit clothing
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Forensics Crime scene recording and analysis
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Forensics
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3D urban modeling UNC/UKY UrbanScape project
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Industrial inspection Verify specifications Compare measured model with CAD
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Scanning industrial sites as-build 3D model of off-shore oil platform
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Robot navigation small tethered rover pan/tilt stereo head ESA project our task: Calibration + Terrain modelling + Visualization
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Architecture Survey Stability analysis Plan renovations
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Architecture Survey Stability analysis Plan renovations
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Cultural heritage Virtual Monticello Allow virtual visits
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Cultural heritage Stanfords Digital Michelangelo Digital archive Art historic studies
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Archaeology accuracy ~1/500 from DV video (i.e. 140kb jpegs 576x720)
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Record different excavation layers Archaeology Generate & verify construction hypothesis Layer 1 Layer 2 Generate 4D excavation record
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Computer games
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Course objectives To understand the concepts that allow to recover 3D shape from images Explore the state of the art in 3D photography Implement a 3D photography system/algorithm
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Material Slides and more http://www.inf.ethz.ch/personal/pomarc/courses/3dphoto/ Also check out on-line shape-from-video tutorial: http://www.cs.unc.edu/~marc/tutorial.pdf http://www.cs.unc.edu/~marc/tutorial/ Other interesting stuff: Book by Hartley & Zisserman, Multiple View Geometry Peter Allens 3D photography class webpage http://www1.cs.columbia.edu/~allen/F07/schedule.html http://www1.cs.columbia.edu/~allen/F07/schedule.html
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Learning approach Lectures: cover main 3D photography concepts and approaches. Exercice sessions: Assignments (1 st half semester) Paper presentations and project updates (2 nd half semester) 3D photography project: Choose topic, define scope (1 st half semster) Implement algorithm/system (2 nd half semester) Grade distribution Assignments & paper presentation: 50% Course project: 50%
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Content camera model and calibration single-view metrology triangulation epipolar geometry, stereo and rectification structured-light, active techniques feature tracking and matching structure-from-motion shape-from-silhouettes space-carving
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3D photography course schedule (tentative) LectureExercise Sept 17Introduction- Sept 24Geometry & Camera modelCamera calibration Oct. 1Single View MetrologyMeasuring in images Oct. 8Feature Tracking/matching (Jan-Michael Frahm?) Correspondence computation Oct. 15Epipolar Geometry (David Gallup?) F-matrix computation Oct. 22Shape-from-SilhouettesVisual-hull computation Oct. 29Stereo matchingProject proposals Nov. 5Structured light and active range sensing (TBD) Papers Nov. 12Structure from motionPapers Nov. 19Multi-view geometry and self-calibration Papers Nov. 26Shape-from-XPapers Dec. 33D modeling and registrationPapers Dec. 10Appearance modeling and image-based rendering (TBD) Papers Dec. 17Final project presentations
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Fast Forward! Quick overview of what is coming
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Camera models and geometry Pinhole camera Geometric transformations in 2D and 3D or
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Camera Calibration Know 2D/3D correspondences, compute projection matrix also radial distortion (non-linear)
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Single View Metrology
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Antonio Criminisi
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Feature tracking and matching Harris corners, KLT features, SIFT features key concepts: invariance of extraction, descriptors to viewpoint, exposure and illumination changes
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l2l2 3D from images C1C1 m1m1 M? L1L1 m2m2 L2L2 M C2C2 Triangulation - calibration - correspondences
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Epipolar Geometry Fundamental matrix Essential matrix Also how to robustly compute from images
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Stereo and rectification Warp images to simplify epipolar geometry Compute correspondences for all pixels
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Structured-light Projector = camera Use specific patterns to obtain correspondences
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Initialize Motion (P 1,P 2 compatibel with F) Initialize Structure (minimize reprojection error) Extend motion (compute pose through matches seen in 2 or more previous views) Extend structure (Initialize new structure, refine existing structure) Structure from motion
