KEYWORDS: Clouds, 3D scanning, Image registration, 3D modeling, Calibration, 3D acquisition, Machine vision, Photogrammetry, Remote sensing, 3D image processing
In this paper, we propose a method of real-time point cloud registration for flexible hand-held 3D scanning. In this study, The problem of point cloud registration to be solved can be divided into refined registration and coarse registration with eight small or large overlap. The fine registration problem is solved by point-to-projection algorithm to ensure high efficiency. In addition, we solve the two types of coarse registration by exhaustive screening with different sampling means. To employ sampling screening algorithm, first we establish multiple matching relationships between two range image by using sampling point pairs, which are derived from the sampling sets of the respective 3D point clouds. Then we propose pose evaluation algorithm(PEA) inspired by ICP to screen out the most optimal matching relationship as the coarse registration result. In this case, we design PEA as a separate kernel function combined with GPU parallel technology to realize real-time computing. Back-projection calibration technology that robust for system distance error solve the problem of pose rejection criteria. The algorithm is highly versatile and robust, since the feature information of the 3D point cloud has never been utilized and extracted. The proposed method has been applied to our hand-held 3D scanners and has been tested on extensive real measured data to demonstrate the effectiveness.
In optical three-dimensional imaging and measurement based on fringe projection, wrapped phases may cause a problem of ambiguity, which can be overcome by phase unwrapping generally. In this paper, a method for absolute phase unwrapping using light-field imaging is reported. In a recorded light field under structured illumination, i.e., a structured light field, a wrapped phase-encoded field was retrieved and resampled in diverse image planes associated with several possible fringe orders in a measurement volume. By leveraging phase consistency constraint, the resampled wrapped phase-encoded field correct fringe orders could be determined to unwrap phase without any additional encoding information.
In this paper, we propose a method for the structured-light field (SLF) 3D measurement, involving ray calibration and phase mapping. The ray calibration is carried out to determine each light ray with metric spatio-angular parameters. Base on the ray parametric equation, the phase mapping in the SLF is developed so that spatial coordinates could be directly mapped from phase-encoding information. Then, a calibration strategy is designed to determine the mapping coefficients for each light ray, achieving high-efficiency SLF 3D reconstruction.
In this paper, we proved that the correspondence cue focusing on the local angular variance of the structured light field could provide constraint conditions to deal with the phase ambiguity. A novel method of light-field depth estimation directly using wrapped phases was proposed, avoiding system calibration and adapting to the measurement environment and requirements.
This letter reports a novel method for light field three-dimensional measurement by using unfocused plenoptic cameras. A light field metric model, based on which nonmetric depths in the image space can be mapped to metric dimensions in the object space, was established. Furthermore, with the aid of a three-dimensional measurement system, light field metric calibration was carried out by determining light rays with spatio-angular parameters and set up the depth relationship between the object and image spaces in accordance with the light field image properties.
The depth-of-field (DOF) characteristic of the imaging system with scattering medium is analyzed based on the analytical model of ambiguity function as a polar display of the optical transfer function (OTF) in this paper. It is indicated that the scattering medium can help re-collect more high spatial frequencies, which are normally lost with defocusing in traditional imaging systems. Therefore, the scattering medium can be considered not as an obstacle for imaging but as a useful tool to extend the DOF of the imaging system. To test the imaging properties and limitations, we performed optical experiments in a single-lens imaging system.
We address a non-invasive imaging method to observe dynamic objects hidden behind a turbid medium. An initial image of the objects is first recovered by speckle correlation technique (SCT) with a single shot speckle pattern. The scattered point spread function (PSF) is then extracted by taking a deconvolution process between the initial image and its corresponding speckle pattern. Consequently, the images of the dynamic objects, within the optical memory effect (OME) range, can then be reconstructed directly with the same deconvolution process between the sequential speckle patterns and the estimated PSF. In addition, a further calibration operation is employed to enhance the robustness of the PSF, ensuring sharp images can still be observed when objects are close to or even cross the edge of OME. Experimental demonstration is presented to verify the feasibility of our proposed method.
The hand-eye system calibration, aiming to achieve the relationship between the robot hand and vision sensor mounted on it, is an important technique in the robot applications, involving automatic 3D measurement, visual serving, sensor placement planning, etc. Generally, the key issue of hand-eye calibration is equivalent to solving the homogeneous transformation matrix X from the equation of the form AX=XB. In this paper, we develop an accurate hand-eye calibration method by establishing a global objective function, in which the errors of camera calibration and robot movements have been considered. It is constructed based on the minimizing the projection error from the target benchmarks to the camera retina plane at all robot motions. The experimental results prove that the proposed algorithm can accurately solve the hand-eye calibration problem. Meanwhile, we set up an automatic 3D measurement system based on a robot and a rotary table, and developed a calibration scheme for the system to achieve the multi-view and fully automatic 3D data acquisition by using a fringe projection 3D sensor.
Portable 3D scanning systems are increasingly used in many applications at present as a result of its high flexibility, portability and high efficiency. Iterative closest points method is widely used for multi-view measurement results registration. However, there are many restrictions for portable system, the alignment often depends on landmarks on object surface or object features, in some applications, it may not achieve satisfactory expectations. In this paper, we propose to conduct the registration based on pose estimation from a low cost inertial sensor, which will increase the measurement effectiveness. Test result demonstrates that the method is feasible. With attitude information inside the system, the measurement device does not need external support information and has good prospects for application.
Nonlinear intensity response, namely gamma effect, of the projector-camera setup introduces phase error in phase-shifting profilometry. This paper presents a comparison of three phase error compensation methods: active, passive and adaptive, using a universal phase error model. The active method calibrates a gamma factor to modify the projected fringe patterns; the passive method implement an iterative procedure to work out an optimal phase map; the adaptive method compensate phase error based on Hilbert transform without any auxiliary conditions. Comparison Experiments were implemented in three and four phase-shifting steps, which demonstrated that the active method provided an excellent performance regardless the phase-shifting step, yet the passive method might fail when the phase error was large; the adaptive method could be in the same level as the passive method in four phase-shifting step.
KEYWORDS: Structured light, Calibration, Image registration, 3D metrology, 3D modeling, 3D image processing, Optical spheres, Cameras, Clouds, Imaging systems
Automatic registration is a key researcher issue in 3D measurement field. In this work, we developed the
automatic registration system, which is composed of a stereo system with structured light and two axis
turntables. To realize the fully automatically 3D point registration, the novel method is proposed for
calibration the stereo system and the two turntable direction vector simultaneously. The plane calibration
rig with marked points was placed on the turntable and was captured by the left and right cameras of the
stereo system with different rotation angles of the two axis turntable. By the shot images, a stereo system
(intrinsically and extrinsically) was calibrated with classics camera model, and reconstruction 3D
coordinates of the marked points with different angle of the two turntable. The marked point in different
angle posted the specific circle, and the normal line of the circle around the turntable axis direction vector.
For the each turntable, different points have different circle and normal line, and the turntable axis
direction vector is calculated by averaging the different normal line. And the result show that, the
proposed registration system can precisely register point cloud under the different scanning angles. In
addition, there are no the ICP iterative procedures, and that make it can be used in registration of the
point cloud without the obvious features like sphere, cylinder comes and the other rotator.
A generalized amplitude-phase retrieval algorithm (GAPRA) attack on ‘double images encryption method with resistance against the special attack based on an asymmetric algorithm’ (DIEM) is presented in this paper. The analysis shows that the DIEM is a cascaded cryptosystem, which consist of a joint transform correlator architecture and a phasetruncated Fourier transform scheme. A GAPRA attack is proposed and the potential risk of the cascaded cryptosystems is discussed. By using our method, an attacker could crack high-quality results of the plaintexts. A set of simulation results demonstrate the validity and feasibility of the proposed method.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.