stereovision Miguel Ares and Santiago Royo (miguel.ares@oo.upc.edu - - PowerPoint PPT Presentation

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stereovision Miguel Ares and Santiago Royo (miguel.ares@oo.upc.edu - - PowerPoint PPT Presentation

Oct 07, 2022 276 likes •514 views

Low-cost 3D scanning technology based on active stereovision Miguel Ares and Santiago Royo (miguel.ares@oo.upc.edu , santiago.royo@upc.edu) COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU

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SLIDE 1 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Low-cost 3D scanning technology based on active stereovision

Miguel Ares and Santiago Royo

(miguel.ares@oo.upc.edu , santiago.royo@upc.edu)

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SLIDE 2 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

http://www.cd6.upc.edu/

Barcelona

Terrassa

  • Optical Metrology
  • Color
  • Optical design and simulation
  • Visual Optics

Major areas of research:

  • 11 researchers
  • 13 technicians
  • 4 management and administration
  • 8 PhD students

Staff: Funding 2012:

> 1 M€ 80% private 20% public

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SLIDE 3 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Outline

  • Stereo fringe projection technology
  • The 3D scanner developed
  • Results
  • Conclusions
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SLIDE 4 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Outline

  • Stereo fringe projection technology
  • The 3D scanner developed
  • Results
  • Conclusions
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SLIDE 5 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Stereo fringe projection technology

  • 1 projector and 2 cameras.
  • Fringes projected for dense

corresponding phases (high res).

  • 3D by stereo epipolar geometry

(precalibration required).

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SLIDE 6 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Stereo fringe projection technology

  • Precalibration: matching 2D to 3D

… …

  • (X,Y,Z)real positions known
  • (i,j)cam positions computed
  • Least-squares minimization

Intrinsic and Extrinsic params 1 1 2 2 N N

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SLIDE 7 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Stereo fringe projection technology

3D plus color texture

Phase-shifted images Phase map Unwrapped Phase map Epipolar triangulation Color images

  • Measurement procedure
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SLIDE 8 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Outline

  • Stereo fringe projection technology
  • The 3D scanner developed
  • Results
  • Conclusions
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SLIDE 9 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

The 3D scanner developed

  • Workflow of the development of the 3D scanner
  • Objects up to 1.5 m

height.

  • FOV = 0.4 x 0.3 m.
  • 180º measurement.
  • 3D with color

texture mapped.

  • User-friendly GUI.
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SLIDE 10 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

The 3D scanner developed

  • CAD design
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SLIDE 11 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

The 3D scanner developed

  • Hardware built

PC Sensor box left (2 cams + 1 projector) Sensor box right (2 cams + 1 projector) Calibrator Motor driving box Video multiplexor Vertical displ. Emergency stopper

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SLIDE 12 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

The 3D scanner developed

  • User-friendly GUI

Live images

  • Vert. displ. control

Calibration 3D measurement Light control Input data 3D data analysis

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SLIDE 13 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Outline

  • Stereo fringe projection technology
  • The 3D scanner developed
  • Results
  • Conclusions
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SLIDE 14 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Measurement of a reference flat surface

111 mm 62 mm 10 mm

Error RMS = 0.279 ± 0.007 mm

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SLIDE 15 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Measurement of a reference flat surface

111 mm 62 mm

111 mm 62 mm 10 mm

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SLIDE 16 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Measurement of objects in 180º

3D right side 3D left side Complete 3D by automatic stitching of both views Plastic toy face

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SLIDE 17 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Measurement of objects in 180º : 3D plus RGB color texture

Original 3D measurement 3D measurement after color correction Color correction algorithm by finding similarities in local neighborhoods NO PHOTOSTUDIO LIGHTING TYPE REQUIRED!

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SLIDE 18 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Horiz. profile
  • Vert. profile
  • Measurement of objects in 180º : distances
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SLIDE 19 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Results

  • Measurement of objects in 180º that resemble human sculptures

Female mannequin …and even also in-vivo persons

FOV = 400 x 300 mm Resolution = 0.3 mm

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SLIDE 20 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Outline

  • Stereo fringe projection technology
  • The 3D scanner developed
  • Results
  • Conclusions
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SLIDE 21 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

Conclusions

  • We have designed and constructed a 3D scanner prototype based on stereo fringe

projection technique.

  • Cost-effective scanner prototype by means of low-cost off-the-shelf components.
  • Contactless measurement of large size objects (FOV = 0.4 x 0.3 m) at 1 m distance.
  • Relatively high spatial resolution of 0.3 mm.
  • Measurement accuracy < 0.3 mm RMS.
  • Digitization of 3D data plus realistic color texture, without the need of additional

photostudio-type lighting.

  • Demonstrated performance of scanning human-like objects.
  • Technology easily scalable for digitizing small, medium and large objects.
  • Possibility to update the system to scan over 360º.
  • Cultural heritage objects are open to be scanned with the prototype in future work.
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SLIDE 22 COST is supported by the EU RTD Framework Programme ESF provides the COST Office through an EC contract

First Working Group Meeting of COSCH, Mainz, 27/03/2013

UNIVERSITAT POLITÈCNICA DE CATALUNYA Centre de Desenvolupament de Sensors, Instrumentació i Sistemes (CD6) http://www.cd6.upc.edu

  • Dr. Miguel Ares

miguel.ares@oo.upc.edu