1. Dense 3D reconstruction with an uncalibrated stereo system using coded structured light Ryo Furukawa Faculty of Information Sciences, Hiroshima City University, Japan Hiroshi Kawasaki Faculty of Information Engineering, Saitama University, Japan Procams 2005

2. Objective Using CSL –High accuracy –Dense sampling Using normal camera and projector –Low cost Self-calibration –Moving devices freely Self-calibrating stereo vision system based on CSL

3. Approaches Solving epipolar constraints directly with nonlinear optimization (Gauss-Newton method) –Estimated parameters: Extrinsic parameters+Focal Length of one of the devices(Camera/Projector) Resolving scaling ambiguity –Simultaneous reconstruction –Measuring scaling with laser beam

4. Epipolar constraints Epipolar constraint Using as a minimizing function? Extrinsic parameter

5. Epipolar constraints When estimating focal length of devices…. –Minimizing ends up with BIASED estimation of because effect of noise to the objective function varies with

6. Epipolar constraints Normalization of errors Minimize Bias of the estimation of is removed.

7. Simultaneous reconstruction Capture multiple scenes 3D reconstruction simultaneously Advantages –Consistent scaling –Improving result Redundant input

8. Results

9. Live Demo We plan to do a live demo. Please come and look!