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Structured Light Lecture 1 Matt Waibel COMP 290-075 4-17-2000
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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
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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)
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General Setup one camera one light source –types slide projector laser –projection spot stripe pattern
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Light Spot Projection 2D image plane
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Light Spot Projection 2D Coordinates found by triangulation – can be found by projection geometry –d = b*sin( )/sin( + ) –X 0 = d*cos( ) –Z 0 = h = d*sin( )
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Light Spot Projection 3D Z
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–X 0 = (tan( )*b*x)/(f + x*tan( )) –Y 0 = (tan( )*b*y)/(f+x*tan( )) –Z 0 = (tan( )*b*f)/(f+x*tan( ))
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Light Stripe Projection P
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Static Light Pattern Projection
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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
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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
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Binary Encoded Light Stripes
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Another Problem: How can we find the stripes in the images? Thresholding is dependent on the contrast Segmenting Stripes
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Better Method: –Use the inverse image (opposite stripes) and determine where the intensities intersect with the original image
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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
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3D Photography on Your Desk
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