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Structured LightLecture 1
Matt Waibel
COMP 290-075
4-17-2000
Overview
• Background
• General Setup
• Light Point Projection 2D and 3D
• Light Stripe Projection
• Static Light Pattern Projection– Binary Encoded Light Stripes
– Segmenting Stripes
• 3D Photography on Your Desk
Background
• Intersecting the projection ray with an additional ray or plane will lead to a unique reconstruction of the object point
• Structured Light: projection of light patterns into a scene (active method)
General Setup
• one camera• one light source
– types• slide projector
• laser
– projection• spot
• stripe
• pattern
Light Spot Projection 2D
imageplane
Light Spot Projection 2D
• Coordinates found by triangulation– can be found by projection geometry – d = b*sin()/sin( + )
– X0 = d*cos()
– Z0 = h = d*sin()
Light Spot Projection 3DZ
Light Spot Projection 3D
– X0 = (tan()*b*x)/(f + x*tan())
– Y0 = (tan()*b*y)/(f+x*tan())
– Z0 = (tan()*b*f)/(f+x*tan())
Light Stripe Projection
P
Static Light Pattern Projection
Static Light Pattern Projection
• Project a pattern of stripes into the scene to reduce the total number of images required to reconstruct the scene
• Problem: how to uniquely identify light stripes in the camera image when several are simultaneously projected into the scene
Binary Encoded Light Stripes
• Set of light planes are projected into the scene
• Individual light planes are indexed by an encoding scheme for the light patterns– Obtained images form a bit-plane stack
– Bit-plane stack is used to uniquely address the light plane corresponding to every image point
Binary Encoded Light Stripes
Binary Encoded Light Stripes
• Another Problem: How can we find the stripes in the images?
• Thresholding is dependent on the contrast
Segmenting Stripes
Segmenting Stripes
• Better Method:– Use the inverse image (opposite stripes) and
determine where the intensities intersect with the original image
3D Photography on Your Desk
• Method that uses very common tools to do 3D photography
• Requirements: PC, camera, stick, lamp, and a checker board
• Uses “weak structured light” approach
3D Photography on Your Desk