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

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 RTD Framework Programme COST Office through an EC contract

http://www.cd6.upc.edu/ Major areas of research: - Optical Metrology Terrassa - Color Barcelona - Optical design and simulation - Visual Optics Staff: - 11 researchers - 13 technicians - 4 management and administration - 8 PhD students Funding 2012: > 1 M € 80% private 20% public COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Outline • Stereo fringe projection technology • The 3D scanner developed • Results • Conclusions COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Outline • Stereo fringe projection technology • The 3D scanner developed • Results • Conclusions COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Stereo fringe projection technology • 1 projector and 2 cameras. • Fringes projected for dense corresponding phases (high res). • 3D by stereo epipolar geometry (precalibration required). COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Stereo fringe projection technology • Precalibration: matching 2D to 3D … • (X,Y,Z) real positions known 1 N 2 • (i,j) cam positions computed … • Least-squares minimization Intrinsic and Extrinsic params 2 1 N COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Stereo fringe projection technology • Measurement procedure Phase-shifted Color images images Phase map Epipolar Unwrapped triangulation 3D plus color texture Phase map COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Outline • Stereo fringe projection technology • The 3D scanner developed • Results • Conclusions COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

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. COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

The 3D scanner developed • CAD design COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

The 3D scanner developed • Hardware built Vertical displ. PC Calibrator Video multiplexor Motor driving box Sensor box right (2 cams + 1 projector) Sensor box left Emergency (2 cams + 1 projector) stopper COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

The 3D scanner developed • User-friendly GUI Live images 3D data analysis Calibration Light control Input data Vert. displ. control 3D measurement COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Outline • Stereo fringe projection technology • The 3D scanner developed • Results • Conclusions COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of a reference flat surface 111 mm 10 mm 62 mm Error RMS = 0.279 ± 0.007 mm COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of a reference flat surface 111 mm 111 mm 10 mm 62 mm 62 mm COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of objects in 180º Plastic toy face Complete 3D by automatic stitching of both views 3D right side 3D left side COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of objects in 180º : 3D plus RGB color texture Color correction algorithm by finding similarities in local neighborhoods NO PHOTOSTUDIO LIGHTING TYPE REQUIRED! Original 3D 3D measurement after measurement color correction COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of objects in 180º : distances Horiz. profile Vert. profile COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Results • Measurement of objects in 180º that resemble human sculptures Female mannequin FOV = 400 x 300 mm …and even also in -vivo persons Resolution = 0.3 mm COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

Outline • Stereo fringe projection technology • The 3D scanner developed • Results • Conclusions COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

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. COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract

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 COST is supported by ESF provides the First Working Group Meeting of COSCH, Mainz, 27/03/2013 the EU RTD Framework Programme COST Office through an EC contract