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A stereo-based system with inertial navigation for three dimensional scanning of outdoor objects and architecture.

机译：一个基于立体声的系统，具有惯性导航功能，可对室外物体和建筑进行三维扫描。

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摘要

Three-dimensional scanning is a topic which, in recent years, has gained significant attention from several research fields, including industrial design, reverse engineering and prototyping (e.g., CAD), body imaging (e.g., fashion and health care), computer vision ( e.g., world mapping), entertainment (e.g., gaming, visual effects and animation), photo tourism, forensics and documentation of cultural artifacts. Currently, 3D scanning is an involved process that generally requires special hardware and procedures, and is therefore frequently limited to a laboratory environment. However, there is a world full of potential subjects to digitize, most of which cannot be relocated to a laboratory without considerable expense, or at all.;In this thesis, we introduce a 3D scanning system suitable for scanning objects and architecture using a mobile stereoscopic camera combined with an inertial navigation sensor. The inertial navigation system acts as a coarse estimator for rapid registration and camera localization. Our scanning apparatus is assembled entirely using commercially available hardware, and the scanning process itself requires no technical skill and our system may be adapted to a wide variety of scanning conditions. We also introduce a set of heuristics for multi view data registration that aim to produce reliable and repeatable convergence despite the diversity of potential subjects, and different types of motions that may be executed by the operator during the scanning process. A surface reconstruction technique is used to generate a mesh, and subsequent texturing of the model is done through interpolation of the per vertex colour information extracted from the rectified colour images recorded by the camera. By texturing the surface of an object in a 3D application, the realism of the product is greatly increased. The results presented will show that our system is a viable solution for reproducing fully textured polygonal models with low surface deviation and realistic visual appearance.
机译：三维扫描是近年来的一个话题，已受到多个研究领域的广泛关注，包括工业设计，逆向工程和原型设计（例如CAD），身体成像（例如时尚和保健），计算机视觉（例如，世界地图），娱乐（例如，游戏，视觉效果和动画），照片旅游，文化文物的取证和记录。当前，3D扫描是一个涉及的过程，通常需要特殊的硬件和程序，因此通常局限于实验室环境。但是，存在一个充满数字化潜质的世界，其中大多数都不会花费大量费用或根本无法搬迁到实验室。在本文中，我们介绍了一种3D扫描系统，适用于使用移动设备扫描对象和建筑立体摄像机结合惯性导航传感器。惯性导航系统充当用于快速配准和摄像机定位的粗略估计器。我们的扫描设备完全使用市售硬件组装而成，并且扫描过程本身不需要任何技术技能，并且我们的系统可以适应多种扫描条件。我们还介绍了一组用于多视图数据注册的启发式方法，旨在尽管存在潜在主题的多样性以及操作人员在扫描过程中可能执行的不同类型的动作，但仍可产生可靠且可重复的收敛。使用表面重建技术生成网格，然后通过对从相机记录的校正后的彩色图像中提取的每个顶点颜色信息进行插值来完成模型的后续纹理化。通过在3D应用程序中纹理化对象的表面，可以大大提高产品的真实感。呈现的结果将表明，我们的系统是再现具有低表面偏差和逼真的视觉外观的全纹理多边形模型的可行解决方案。

著录项

  • 作者

    Byczkowski, Tomasz.;

  • 作者单位

    University of Ottawa (Canada).;

  • 授予单位 University of Ottawa (Canada).;
  • 学科 Engineering Electronics and Electrical.
  • 学位 M.A.Sc.
  • 年度 2009
  • 页码 131 p.
  • 总页数 131
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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