CS223B-L10-Ranger3D

CS223B-L10-Ranger3D - Stanford CS223B Computer Vision,...

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Sebastian Thrun CS223B Computer Vision, Winter 2009 Stanford CS223B Computer Vision, Winter 2008/09 Lecture 10 Alternative Range Sensors and 3D Modeling Professor Sebastian Thrun CAs: Ethan Dreyfuss, Young Min Kim, Alex Teichman
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Outline 3D Acquisition Limitations to Stereo Active Stereo Range Sensors ICP (Iterative Closest Point) Shape from Symmetry
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Correspondence Problem 1 Ambiguities
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Correspondence Problem 2 Multiple occluding objects Figure from Forsyth & Ponce
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Correspondence Problem 3 Correspondence fail for smooth surfaces (edge = occlusion boundary, poorly localized) There is currently no good solution to this correspondence problem
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Correspondence Problem 4 Regions without texture Highly Specular surfaces Translucent objects
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Outline 3D Acquisition Limitations to Stereo Active Stereo Range Sensors 3D Modeling ICP (Iterative Closest Point) Shape from Symmetry
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Sebastian Thrun CS223B Computer Vision, Winter 2009 How can We Improve Stereo? Space-time stereo scanner uses unstructured light to aid in correspondence Result: Dense 3D mesh (noisy)
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Active Stereo: Adding Texture to Scene By James Davis, Honda Research, Now UCSC
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Sebastian Thrun CS223B Computer Vision, Winter 2009 rectified Active Stereo (Structured Light)
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Structured Light: 3-D Result 3D Snapshot By James Davis, Honda Research L. Zhang et al.
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Structured Light Scanner Replace one of the cameras with a projector Figure out correspondences by coding stripe pattern
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Structured Light Scanner Only need to code 1D (i.e. in stripes) (but not parallel with epipolar lines!) B. Curless (Slide by M. Pollefeys)
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Outline 3D Acquisition Limitations to Stereo Active Stereo Range Sensors ICP (Iterative Closest Point) Shape from Symmetry
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Time of Flight Sensor: Shutter http://www.3dvsystems.com
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Time of Flight Sensor Demo
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Time of Flight Sensor: Applications Machine Vision and Robotics Human Interface/ Gaming
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Sebastian Thrun CS223B Computer Vision, Winter 2009 Scanning Laser Range Finders
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Sebastian Thrun CS223B Computer Vision, Winter 2009 SICK Scanning TOF Laser
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This note was uploaded on 01/24/2010 for the course CS 223B taught by Professor Thrun,s during the Winter '09 term at Stanford.

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CS223B-L10-Ranger3D - Stanford CS223B Computer Vision,...

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