3d scanning. computer graphics pipeline human time = expensivehuman time = expensive sensors =...
Post on 15-Jan-2016
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3D Scanning3D Scanning
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Computer Graphics PipelineComputer Graphics Pipeline
• Human time = expensiveHuman time = expensive
• Sensors = cheapSensors = cheap– Computer graphics increasingly relies onComputer graphics increasingly relies on
measurements of the real worldmeasurements of the real world
RenderingRenderingRenderingRendering
ShapeShapeShapeShape
LightingLightingandand
ReflectanceReflectance
LightingLightingandand
ReflectanceReflectance
MotionMotionMotionMotion
ShapeShape 3D Scanning3D Scanning
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3D Scanning Applications3D Scanning Applications
• Computer Computer graphicsgraphics
• Product Product inspectioninspection
• Robot navigationRobot navigation
• As-built floorplansAs-built floorplans
• Product designProduct design
• ArchaeologyArchaeology
• Clothes fittingClothes fitting
• Art historyArt history
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Industrial InspectionIndustrial Inspection
• Determine whether manufactured partsDetermine whether manufactured partsare within tolerancesare within tolerances
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MedicineMedicine
• Plan surgery on computer model,Plan surgery on computer model,visualize in real timevisualize in real time
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MedicineMedicine
• Plan surgery on computer model,Plan surgery on computer model,visualize in real timevisualize in real time
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MedicineMedicine
• Plan surgery on computer model,Plan surgery on computer model,visualize in real timevisualize in real time
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MedicineMedicine
• Plan surgery on computer model,Plan surgery on computer model,visualize in real timevisualize in real time
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Scanning BuildingsScanning Buildings
• Quality control during constructionQuality control during construction
• As-built modelsAs-built models
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Scanning BuildingsScanning Buildings
• Quality control during constructionQuality control during construction
• As-built modelsAs-built models
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ClothingClothing
• Scan a person, custom-fit clothingScan a person, custom-fit clothing
• U.S. Army; booths in mallsU.S. Army; booths in malls
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The Digital Michelangelo ProjectThe Digital Michelangelo Project
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Why Scan Sculptures?Why Scan Sculptures?
• Sculptures interesting objects to look atSculptures interesting objects to look at
• Introduce scanning to new disciplinesIntroduce scanning to new disciplines– Art: studying working techniquesArt: studying working techniques
– Art historyArt history
– Cultural heritage preservationCultural heritage preservation
– ArcheologyArcheology
• High-visibility projectHigh-visibility project
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GoalsGoals
• Scan 10 sculptures by MichelangeloScan 10 sculptures by Michelangelo
• High-resolution (“quarter-millimeter”) High-resolution (“quarter-millimeter”) geometrygeometry
• Side projects: architectural scanning Side projects: architectural scanning (Accademia and Medici chapel), (Accademia and Medici chapel), scanning fragments of Forma Urbis scanning fragments of Forma Urbis RomaeRomae
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Why Capture Chisel Marks?Why Capture Chisel Marks?
Atlas Atlas (Accademia)(Accademia)
ugnettougnettougnettougnetto
??
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Why Capture Chisel MarksWhy Capture Chisel Marksas Geometry?as Geometry?
Day (Medici Day (Medici Chapel)Chapel)
2 mm2 mm
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Side project:Side project:The Forma Urbis RomaeThe Forma Urbis Romae
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Forma Urbis Romae FragmentForma Urbis Romae Fragment
side face
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Range Acquisition TaxonomyRange Acquisition Taxonomy
RangeRangeacquisitionacquisition
ContactContact
TransmissiveTransmissive
ReflectiveReflectiveNon-opticalNon-optical
OpticalOptical
Industrial CTIndustrial CT
Mechanical Mechanical (CMM, jointed arm)(CMM, jointed arm)
RadarRadar
SonarSonar
UltrasoundUltrasound
MRIMRI
Ultrasonic trackersUltrasonic trackersMagnetic trackersMagnetic trackers
Inertial Inertial (gyroscope, accelerometer)(gyroscope, accelerometer)
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Range Acquisition TaxonomyRange Acquisition Taxonomy
OpticalOpticalmethodsmethods
PassivePassive
ActiveActive
Shape from X:Shape from X:stereostereomotionmotionshadingshadingtexturetexturefocusfocusdefocusdefocus
Active variants of passive methodsActive variants of passive methodsStereo w. projected textureStereo w. projected textureActive depth from defocusActive depth from defocusPhotometric stereoPhotometric stereo
Time of flightTime of flight
TriangulationTriangulation
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Touch ProbesTouch Probes
• Jointed arms with Jointed arms with angular encodersangular encoders
• Return position, Return position, orientation of tiporientation of tip
Faro Arm – Faro Technologies, Inc.Faro Arm – Faro Technologies, Inc.
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StereoStereo
• Find feature in one image, search along Find feature in one image, search along epipolar line in other image for epipolar line in other image for correspondencecorrespondence
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Why More Than 2 Views?Why More Than 2 Views?
• BaselineBaseline– Too short – low accuracyToo short – low accuracy
– Too long – matching becomes hardToo long – matching becomes hard
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Why More Than 2 Views?Why More Than 2 Views?
• Ambiguity with 2 viewsAmbiguity with 2 views
Camera 1Camera 1 Camera 2Camera 2Camera 3Camera 3
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Multibaseline StereoMultibaseline Stereo
[[OkutomiOkutomi & Kanade] & Kanade]
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Shape from MotionShape from Motion
• ““Limiting case” of multibaseline stereoLimiting case” of multibaseline stereo
• Track a feature in a video sequenceTrack a feature in a video sequence
• For For nn frames and frames and ff features, have features, have22nnff knowns, 6 knowns, 6nn+3+3ff unknowns unknowns
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Shape from ShadingShape from Shading
• Given: image of surface with known, Given: image of surface with known, constant reflectance under known point constant reflectance under known point lightlight
• Estimate normals, integrate to find Estimate normals, integrate to find surfacesurface
• Problem: ambiguityProblem: ambiguity
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Shape from ShadingShape from Shading
• Advantages:Advantages:– Single imageSingle image
– No correspondencesNo correspondences
– Analogue in human visionAnalogue in human vision
• Disadvantages:Disadvantages:– Mathematically unstableMathematically unstable
– Can’t have textureCan’t have texture
• ““Photometric stereo” (active method) Photometric stereo” (active method) more practical than passive versionmore practical than passive version
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Shape from TextureShape from Texture
• Mathematically similar to shape from shading, Mathematically similar to shape from shading, but uses stretch and shrink of a (regular) but uses stretch and shrink of a (regular) texturetexture
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Shape from Focus and DefocusShape from Focus and Defocus
• Shape from focus: at which focus Shape from focus: at which focus setting is a given image region setting is a given image region sharpest?sharpest?
• Shape from defocus: how out-of-focus is Shape from defocus: how out-of-focus is each image region?each image region?
• Passive versions rarely usedPassive versions rarely used
• Active depth from defocus can beActive depth from defocus can bemade practicalmade practical
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Active Variants of Passive Active Variants of Passive TechniquesTechniques
• Regular stereo with projected textureRegular stereo with projected texture– Provides features for correspondenceProvides features for correspondence
• Active depth from defocusActive depth from defocus– Known pattern helps to estimate defocusKnown pattern helps to estimate defocus
• Photometric stereoPhotometric stereo– Shape from shading with multiple known Shape from shading with multiple known
lightslights
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Pulsed Time of FlightPulsed Time of Flight
• Basic idea: send out pulse of light Basic idea: send out pulse of light (usually laser), time how long it takes to (usually laser), time how long it takes to returnreturn tcd
2
1tcd
2
1
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Pulsed Time of FlightPulsed Time of Flight
• Advantages:Advantages:– Large working volume (up to 100 m.)Large working volume (up to 100 m.)
• Disadvantages:Disadvantages:– Not-so-great accuracy (at best ~5 mm.)Not-so-great accuracy (at best ~5 mm.)
• Requires getting timing to ~30 picosecondsRequires getting timing to ~30 picoseconds
• Does not scale with working volumeDoes not scale with working volume
• Often used for scanning buildings, Often used for scanning buildings, rooms, archeological sites, etc.rooms, archeological sites, etc.
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TriangulationTriangulation
• Project laser stripe onto objectProject laser stripe onto object
ObjectObject
LaserLaser
CameraCameraCameraCamera
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CameraCameraCameraCamera
TriangulationTriangulation
• Depth from ray-plane triangulationDepth from ray-plane triangulation
LaserLaser
(x,y(x,y))
ObjectObject
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Triangulation: Moving theTriangulation: Moving theCamera and IlluminationCamera and Illumination
• Moving independently leads to Moving independently leads to problems with focus, resolutionproblems with focus, resolution
• Most scanners mount camera and light Most scanners mount camera and light source rigidly, move them as a unitsource rigidly, move them as a unit
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Triangulation: Moving theTriangulation: Moving theCamera and IlluminationCamera and Illumination
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Triangulation: Moving theTriangulation: Moving theCamera and IlluminationCamera and Illumination
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Scanning a Large ObjectScanning a Large Object
• Calibrated motionsCalibrated motions– pitch pitch (yellow)(yellow)
– pan pan (blue)(blue)
– horizontal translation horizontal translation (orange)(orange)
• Uncalibrated motionsUncalibrated motions– vertical translationvertical translation
– rolling the gantryrolling the gantry
– remounting the scan headremounting the scan head
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. 1. manual initial alignmentmanual initial alignment
2. ICP to one existing scan2. ICP to one existing scan
3. automatic ICP of all 3. automatic ICP of all overlapping pairsoverlapping pairs
4. global relaxation to spread 4. global relaxation to spread out errorout error
5. merging using volumetric 5. merging using volumetric methodmethod
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. manual initial alignment1. manual initial alignment
2. 2. ICP to one existing scanICP to one existing scan
3. automatic ICP of all 3. automatic ICP of all overlapping pairsoverlapping pairs
4. global relaxation to spread 4. global relaxation to spread out errorout error
5. merging using volumetric 5. merging using volumetric methodmethod
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. manual initial alignment1. manual initial alignment
2. 2. ICP to one existing scanICP to one existing scan
3. automatic ICP of all 3. automatic ICP of all overlapping pairsoverlapping pairs
4. global relaxation to spread 4. global relaxation to spread out errorout error
5. merging using volumetric 5. merging using volumetric methodmethod
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. manual initial alignment1. manual initial alignment
2. ICP to one existing scan2. ICP to one existing scan
3. 3. automatic ICP of all automatic ICP of all overlapping pairsoverlapping pairs
4. 4. global relaxation to spread global relaxation to spread out errorout error
5. merging using volumetric 5. merging using volumetric methodmethod
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. manual initial alignment1. manual initial alignment
2. ICP to one existing scan2. ICP to one existing scan
3. automatic ICP of all 3. automatic ICP of all overlapping pairsoverlapping pairs
4. global relaxation to spread 4. global relaxation to spread out errorout error
5. 5. merging using volumetric merging using volumetric methodmethod
+
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Range Processing PipelineRange Processing Pipeline
• StepsSteps1. manual initial alignment1. manual initial alignment
2. ICP to one existing scan2. ICP to one existing scan
3. automatic ICP of all 3. automatic ICP of all overlapping pairsoverlapping pairs
4. global relaxation to spread 4. global relaxation to spread out errorout error
5. 5. merging using volumetric merging using volumetric methodmethod
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Statistics About the Scan of DavidStatistics About the Scan of David
• 480 individually aimed 480 individually aimed scansscans
• 0.3 mm sample spacing0.3 mm sample spacing
• 2 billion polygons2 billion polygons
• 7,000 color images7,000 color images
• 32 gigabytes32 gigabytes
• 30 nights of scanning30 nights of scanning
• 22 people22 people
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Head of Michelangelo’s Head of Michelangelo’s DavidDavid
PhotographPhotograph 1.0 mm computer model1.0 mm computer model