Thèses sur le sujet « Structured light 3D scanning »

In this thesis project, an underwater 3D scanner based on structured light has been constructed and developed. Two other scanners, based on stereoscopy and a line-swept laser, were also tested. The target application is to examine objects inside the water filled reactor vessel of nuclear power plants. Structured light systems (SLS) use a projector to illuminate the surface of the scanned object, and a camera to capture the surfaces' reflection. By projecting a series of specific line-patterns, the pixel columns of the digital projector can be identified off the scanned surface. 3D points can then be triangulated using ray-plane intersection. These points form the basis the final 3D model. To construct an accurate 3D model of the scanned surface, both the projector and the camera need to be calibrated. In the implemented 3D scanner, this was done using the Camera Calibration Toolbox for Matlab. The codebase of this scanner comes from the Matlab implementation by Lanman & Taubin at Brown University. The code has been modified and extended to meet the needs of this project. An examination of the effects of the underwater environment has been performed, both theoretically and experimentally. The performance of the scanner has been analyzed, and different 3D model visualization methods have been tested. In the constructed scanner, a small pico projector was used together with a high pixel count DSLR camera. Because these are both consumer level products, the cost of this system is just a fraction of commercial counterparts, which uses professional components. Yet, thanks to the use of a high pixel count camera, the measurement resolution of the scanner is comparable to the high-end of industrial structured light scanners.

This diploma thesis deals with design of 3D scanner for scanning problematic surfaces. The research part introduces the problem of 3D scanning and describes causes of random errors. Further, it contains a description and division of methods that leads to their elimination. The practical part of the thesis deals with design and description of hardware and software parts of the 3D scanner. The output of this work is device that is able to implement and compare quality of codification methods mainly for scanning of problematic surfaces. The functionality of equipment was verified by experimental measurement.

The utilisation of 3D digitisation and visualisation has grown considerably since 2008 and is becoming an increasingly useful tool for the digital documentation and metric analysis of archaeological artefacts and skeletal remains. It provides public access to rare and fragile specimens of palaeontological and palaeopathological importance whilst reducing the physical impact on these remains. Research in engineering and computer vision provides some insight into the impact of surface properties such as colour, specularity, reflectance and shape on the quality of the recorded 3D image, but within the archaeological and palaeontological disciplines comparable work has not yet been developed. If archaeology and anthropology are to provide long term reliable data from archaeological and palaeontological specimens in a way that doesn’t require repeated re-digitisation, we need to understand the impacts that the taphonomic histories of such samples have on our ability to 3D record them. Understanding the relationship of these taphonomic histories and the surface and optical properties will promote informed choices about the suitability of recording techniques. This thesis considers the taphonomic processes that affect the preservation of bone over archaeological, forensic and palaeontological timescales and the effect this has on the quality of 3D digital models. The digital refit of fragmentary bone samples is considered in relation to the effect of taphonomic alterations to bone. Conclusions regarding the key taphonomic factors and 3D digital model quality are drawn and areas of further work are identified.

Die vorliegende Arbeit befasst sich mit der Erfassung von Oberflächen mittels Streifenprojektionsverfahren. Dabei wird ein Berechnungsmodell erarbeitet, welches den durch eine Aufnahme erfassten Bereich der Objektoberfläche berechnet und bewertet. Mithilfe einer optimalen Positionierung von Einzelaufnahmen ist es möglich, ein Objekt bei festgelegten Randbedingungen zeitsparend zu erfassen.

Inom området maskinteknik finns idag ett stort intresse för Reverse Engineering med hjälp av 3Dskanning. Tekniken utgår ifrån att skapa Computer-Aided-Design (CAD) modeller av reala objekt. Föreliggande projekt utfördes vid institutionen för tillämpad fysik och elektronik vid Umeå universitetet i syfte att utvärdera prestationen av Reverse Engineering av objekt som är utmanade at rita direkt i CAD-program. Fyra olika fysiska objekt valdes för analys: en bult, en tolvkantshylsa, en propeller och ett snäckhjul; det sistnämnda tillhandahållen av företaget Rototilt Group AB. Objekten avbildades med en 3D-skannare som använder sig av metoden strukturerat ljus för att läsa in objektens form och har en noggrannhet på 0,04 mm. De 3Davbildade objekten redigerades sedan och CAD-ritningar skapades. Slutligen skrevs CADmodellerna ut med hjälp av en 3D-skrivare och en toleransanalys med gränsvärdet 0,2 mmutfördes för att jämföra dimensionerna av originalobjekten, de olika digitala modellerna samt de utskrivna objekten. Resultatet visar att Reverse Engineering (med vissa begränsningar) är en bra metod för objekt som är utmanade att modellera i CAD. Med tekniken kan fysiska objektrekonstrueras till CAD-modeller snabbt och med hög noggrannhet.
In the field of mechanical engineering, there is an increasing interest in Reverse Engineering using 3D-scanning. The technology is based on creating Computer-Aided-Design (CAD) models of real objects. The present project was carried out at the Department of Applied Physics and Electronics at Umeå University in order to evaluate the performance of Reverse Engineering of objects that are challenging to draw directly in CAD programs. Four different physical objects were selected for analysis: a bolt, a hex socket, a propeller and a worm wheel; the latter provided by the company Rototilt Group AB. A structured light 3D-scanner with a specified accuracy of 0,04 mm was used to image the objects. The 3D images were then post-processed and transferred to CAD software to create the CAD drawings. Finally, the CAD-models were printed with a 3D printer and a tolerance analysis with a limit of 0,2 mm was performed to compare the dimensions of the original objects, the different digital models and the printed objects. The results show that Reverse Engineering (with some limitations) is a good method for objects that are difficult to model in CAD. The technique is well-suited to reconstruct physical objects into CAD-models quickly and with high accuracy.

The focus of this thesis is the cooperation of cameras and projectors in projection of data into a scene. It describes the means and theory necessary to achieve such cooperation, and suggests tasks for demonstration. A part of this project is also a program capable of using a camera and a projector to obtain necessary parameters of these devices. The program can demonstrate the quality of this calibration by projecting a pattern onto an object according to its current pose, as well as reconstruct the shape of an object with structured light. The thesis also describes some challenges and observations from development and testing of the program.

L'imagerie numérique, de la synthèse d'images à la vision par ordinateur est en train de connaître une forte évolution, due entre autres facteurs à la démocratisation et au succès commercial des caméras 3D. Dans le même contexte, l'impression 3D grand public, qui est en train de vivre un essor fulgurant, contribue à la forte demande sur ce type de caméra pour les besoins de la numérisation 3D. L'objectif de cette thèse est d'acquérir et de maîtriser un savoir-faire dans le domaine de la capture/acquisition de modèles 3D en particulier sur l'aspect rendu réaliste. La réalisation d'un scanner 3D à partir d'une caméra RGB-D fait partie de l'objectif. Lors de la phase d'acquisition, en particulier pour un dispositif portable, on est confronté à deux problèmes principaux, le problème lié au référentiel de chaque capture et le rendu final de l'objet reconstruit
Digital imaging, from the synthesis of images to computer vision isexperiencing a strong evolution, due among other factors to the democratization and commercial success of 3D cameras. In the same context, the consumer 3D printing, which is experiencing a rapid rise, contributes to the strong demand for this type of camera for the needs of 3D scanning. The objective of this thesis is to acquire and master a know-how in the field of the capture / acquisition of 3D models in particular on the rendered aspect. The realization of a 3D scanner from a RGB-D camera is part of the goal. During the acquisition phase, especially for a portable device, there are two main problems, the problem related to the repository of each capture and the final rendering of the reconstructed object

Structured Light Scanners measure the surface of a target object, producing a set of vertices which can be used to construct a three-dimensional model of the surface. The techniques are particularly appropriate for measuring the smoothly undulating, featureless forms which Stereo Vision methods find difficult, and the structured light pattern explicitly gives a dense graph of connected vertices, thus obviating the need for vertex-triangulation prior to surface reconstruction. In addition, the technique provides the measurements almost instantaneously, and so is suitable for scanning moving and non-rigid objects. Because of these advantages there is an imperative to extend the range of scannable surfaces to those including occlusions, which often reduce or prevent successful measurement. This thesis investigates ways of improving both the accuracy and the range of surface types which can be scanned using structured light techniques, extending current research by examining the role of occlusions and geometric constraints, and introducing novel algorithms to solve the Indexing Problem. The Indexing Problem demands that for every pattern element in the projected image, its counterpart, reflected from the surface of the target object, must be found in the recorded image, and most researchers have declared this problem to be intractable without resorting to coding schemes which uniquely identify each pattern element. The use of uncoded projection patterns, where the pattern elements are projected without any unique identification, has two advantages: firstly it provides the densest possible set of measured vertices within a single video timeframe, and secondly it allows the investigation of the fundamental problems without the distraction of dealing with coding schemes. These advantages educe the general strategy adopted in this thesis, of attempting to solve the Indexing Problem using uncoded patterns, and then adding some coding where difficulties still remain. In order to carry out these investigations it is necessary to precisely measure the system and its outputs, and to achieve this requirement two scanners have been built, a Single Stripe Scanner and a Multiple Stripe Scanner. The Single Stripe Scanner introduces the geometric measurement methods and provides a reference output which matches the industry standard; the Multiple Stripe Scanner then tests the results of the investigations and evaluates the success of the new algorithms and constraints. In addition, some of the investigations are tested theoretically, by using synthetic data and by the solution of geometric diagrams. These evaluations of success show that, if occlusions are not present in the recorded data, the Indexing Problem can often be completely solved if the new indexing algorithms and geometric constraints are included. Furthermore, while there are some cases where the Indexing Problem cannot be solved without recourse to a coding scheme, the addition of occlusion detection in the algorithms greatly improves the indexing accuracy and therefore the successful measurement of the target surface.

An increasing number of modern Computer Vision applications rely on the usage of depth data, allowing the accomplishment of several tasks otherwise being complex or impractical. As a consequence, a large amount of 3D acquisition methods have been proposed in literature, each one designed for a specific objective. In particular, structured-light approaches employ a projector to cast additional information over the scene to compute correspondences between two views and obtain a dense reconstruction. This thesis presents two main contributions in the field of 3D reconstruction: first, some improvements over a state-of-the-art structured light technique called fringe projection are presented. We start from a theoretical characterization of the acquired signal and formulate a novel phase unwrapping technique offering high resilience to noise and outliers. Additionally, we propose a code recovering technique and a phase correcting method to further improve the final reconstruction accuracy. The second main contribution involves some real-world applications exploiting 3D reconstruction techniques in heterogeneous fields. In particular, we present a cylinder extraction technique designed to work in industrial settings where non-oriented, noisy point clouds are acquired from the scene and a structured-light approach for micrometric surface reconstruction. Another application involves the employment of the described techniques in the field of cultural heritage, where the final outcome yields to a reverse engineering process in addiction to the main preservation purpose.

This thesis introduces and describes a new experimental setup for examining the effects of pulsating inflow to a ventilated enclosure. The study aimed to test the hypothesis that a pulsating inflow has potential to improve ventilation quality by reducing the stagnation zones through enhanced mixing. The experimental setup, which was a small-scale, two-dimensional (2D), water-filled room model, was successfully designed and manufactured to be able to capture two-dimensional velocity vectors of the entire field using Particle Image Velocimetry (PIV). Using in-house software, it was possible to conclude that for an increase in pulsation frequency or alternatively in the flow rate, the stagnation zones were reduced in size, the distribution of vortices became more homogeneous over the considered domain, and the number of vortices in all scales had increased. Considering the occupied region, the stagnation zones were moved away in a favorable direction from a mixing point of view. In addition, statistical analysis unveiled that in the far-field occupied region of the room model, stronger eddies were developed that we could expect to give rise to improved mixing. As a fundamental experimental study performed in a 2D, small-scale room model with water as operating fluid, we can logically conclude that the positive effect of enhanced mixing through increasing the flow rate could equally be accomplished through applying a pulsating inflow. In addition, this thesis introduces and describes an experimental setup for study of air flow over a wall-mounted radiator in a mockup of a real room, which has been successfully designed and manufactured. In this experimental study, the airflow over an electric radiator without forced convection, a common room-heating technique, was measured and visualized using the 2D PIV technique. Surface blackening due to particle deposition calls for monitoring in detail the local climate over a heating radiator. One mechanism causing particle deposition is turbophoresis, which occurs when the flow is turbulent. Because turbulence plays a role in particle deposition, it is important to identify where the laminar flow over radiator becomes turbulent. The results from several visualization techniques and PIV measurements indicated that for a room with typical radiator heating, the flow over the radiator became agitated after a dimensionless length, 5.0–6.25, based on the radiator thickness. Surface properties are among the influencing factors in particle deposition; therefore, the geometrical properties of different finishing techniques were investigated experimentally using a structured light 3D scanner that revealed differences in roughness among different surface finishing techniques. To investigate the resistance to airflow along the surface and the turbulence generated by the surfaces, we recorded the boundary layer flow over the surfaces in a special flow rig, which revealed that the types of surface finishing methods differed very little in their resistance and therefore their influence on the deposition velocity is probably small.
Det övergripande syftet med den första studien i avhandlingen var att undersöka hypotesen att ett pulserande inflöde till ett ventilerade utrymme har en potential till att förbättra ventilationens kvalitet genom att minska stagnationszoner och därigenom öka omblandningen. För genomförande av studien byggdes en experimentuppställning i form av en tvådimensionell (2D) småskalig modell av ett ventilerat rum. Strömningsmediet i modellen var vatten. Det tvådimensionella hastighetsfältet registrerades över hela modellen med hjälp av Particle Image Velocimetry (PIV). Vid ett stationärt tillflöde bildas ett stagnationsområde i centrum av rumsmodellen. Vid ett pulserade inflöde genererades sekundära virvlar. Med en egen utvecklad programvara var det möjligt att kvantifiera statistiken hos virvlarna. Det pulserade inflödet gjorde att inom området där det vid stationärt tillflöde fanns en stagnationszon ökade antalet virvlar i alla storlekar och fördelningen av virvlar blev mera homogen än tidigare. Detta kan förväntas ge upphov till förbättrad omblandning. Baserat på en grundläggande experimentell studie utförd i en småskalig tvådimensionell rumsmodell med vatten som strömningsmedium kan vi logiskt dra slutsatsen att ett pulserande tilluftsflöde har en potential att förbättra omblandningen.  I en fortsatt studie i avhandlingen visuliserades och mättes hastighetsfältet och därefter beräknades statistiska värden av exempelvis medelhastighet, standardavvikelse och skjuvspänning hos hastighetsfluktuationerna i luftströmmen över en väggmonterad radiator med 2D-PIV-teknik.  Bakgrunden till studien är att en bidragande orsak till partikelavsättning på väggytor är turbofores som uppträder vid en turbulent luftström. Studien genomfördes genom uppbyggnad av en fullskalig rumsmodell. Eftersom turbulens spelar en roll vid partikelavsättning genom turbofores är det viktigt att identifiera var det laminära flödet över radiatorn blir turbulent. Resultaten baserat på visualisering och PIV-mätningar indikerade att, för ett rum med denna typ av radiatoruppvärmning, blev flödet över radiatorn turbulent efter en dimensionslös längd lika med 5,0‒6,25 gånger radiatorns tjocklek. Ytors egenskaper är viktiga vid partikelavsättning. Därför har de geometriska egenskaperna hos några olika metoder för ytbehandling undersökts experimentellt med hjälp av en scanner för strukturerat 3D-ljus. Resultaten visar på skillnader i ytråhet hos de olika ytbehandlingsmetoderna. För att undersöka motståndet mot luftströmning längs ytan och den turbulens som genereras av ytorna registrerade vi gränsskiktsflödet över ytorna i en speciell luftströmningsrigg. Detta påvisade att motståndet hos de olika typerna av ytbehandlingsmetoder skilde sig mycket litet åt och därför är troligt vid deras påverkan på depositionshastigheten mycket liten.

QC 20150525

Aquesta tesi tracta sobre la combinació del control visual i la llum estructurada. El control visual clàssic assumeix que elements visuals poden ser fàcilment extrets de les imatges. Això fa que objectes d'aspecte uniforme o poc texturats no es puguin tenir en compte. En aquesta tesi proposem l'ús de la llum estructurada per dotar d'elements visuals als objectes independentment de la seva aparença.
En primer lloc, es presenta un ampli estudi de la llum estructurada, el qual ens permet proposar un nou patró codificat que millora els existents. La resta de la tesi es concentra en el posicionament d'un robot dotat d'una càmara respecte diferents
objectes, utilitzant la informació proveïda per la projecció de diferents patrons de llum. Dos configuracions han estat estudiades: quan el projector de llum es troba separat del robot,
i quan el projector està embarcat en el robot juntament amb la càmara. Les tècniques proposades en la tesi estan avalades per un ampli estudi analític i validades per resultats experimentals.
This thesis treats about the combination of visual servoing and structured light. Classic visual servoing assumes that visual features can be extracted from the images. However, uniform or
non-textured objects, or objects for which extracting features is too complex or too time consuming cannot be taken into account.
This thesis proposes the use of structured light patterns for providing suitable visual features independently of the object appearance.
Firstly, a comprehensive survey on coded structured light patterns is presented. Then, a new pattern improving the existing ones is
proposed. The remaining of the thesis is devoted to position an eye-in-hand robot with respect to objects by using features provided by light patterns. Two configurations are tested. In the
first one, an off-board video-projector is used while in the second, an onboard structured light emitter is exploited. The techniques proposed in the thesis are supported by theoretical
analysis and they are validated by experimental results.

This is a master thesis of the Master of Science degree program in Applied Physics and Electrical Engineering at Linköping University. The goal of this thesis is to find out how the Microsoft Kinect can be used as a part of a camera rig to create accurate 3D-models of an indoor environment. The Microsoft Kinect is marketed as a touch free game controller for the Microsoft Xbox 360 game console. The Kinect contains a color and a depth camera. The depth camera works by constantly projecting a near infrared dot pattern that is observed with a near infrared camera. In this thesis it is described how to model the near infrared projector pattern to enable external near infrared cameras to be used to improve the measurement precision. The depth data that the Kinect output have been studied to determine what types of errors it contains. The finding was that the Kinect uses an online calibration algorithm that changes the depth data.

Nowadays, 3D modelling of objects from multiple images is a topic that has gained great recognition and is widely used in various fields. Recently, lots of progress has been made in identification of people using 3D face models, which are usually reconstructed from multiple face images. In this thesis, a system including stereo cameras and structured light is built for the purpose of 3D modelling. The system outputs are 3D shapes of the face and also the texture information registered to this shape. Although the system in this thesis is developed for face reconstruction, it is not specific to faces. Using the same methodology proposed in this study 3D reconstruction of any object can be achieved.

2010 - 2011
The work made during the PhD course in Information Engineering, was focused on the possibility to find out novel techniques for the quick calibration of a cheap 3D Scanner. It is based on a simple camera and a commercial projector, in order to develop low-cost devices with high reliability capable of acquiring large areas quickly. Many systems based on this configuration exist, those devices have benefits and disadvantages. They can acquire objects with large surface in a few seconds and with an adequate accuracy. On the other hand, they need a lengthy calibration and they are very sensitive to the noise due to the flicker of the light source. Considering these problems, I tried to find new robust calibration techniques in order to reduce the sensitivity to noise, and, in this way, to have high-performance low-cost 3D scanners with short-time calibration and reconfiguration. There are many calibration techniques available for these systems. First, it is necessary to calibrate the camera and then the overall system for projecting analog encoded patterns, typically sinusoidal or digital, such as Gray codes. These techniques are very time-consuming because they require a prior camera calibration phase separate from the calibration of the whole system and also disturbing factors are introduced by the ambient light noise. Indeed, a lot of projection patterns, used to map the calibration volume, are required to be projected. In order to achieve our goal, different types of structured light scanner have been studied and implemented, according to the schemes proposed in literature. For example, there exist scanners based on sinusoidal patterns and others based on digital patterns, which also allowed the implementation in real time mode. On these systems classical techniques of calibration were implemented and performance were evaluated ad a compromise between time and accuracy of the system. Classical calibration involves the acquisition of phase maps in the volume calibration following a pre-calibration of the camera. At the beginning, an algorithm that allows calibration through the acquisition of only two views has been implemented, including camera calibration, modeled by pin-hole model, in the calibration algorithm. To do this, we have assumed a geometric model for the projector which has been verified by the evaluation of experimental data. The projector is then modeled as a second camera, also using the pin-hole model, and we proceeded with the calibration of camera-projector pair as a pair of stereo cameras, using a DLT calibration. Thanks to the acquisition of two views of the target volume in the calibration, it is possible to extract the parameters of the two devices through which the projected pattern can be generated, and the acquisition by the camera can be done, eliminating the problem of noise due to ambient light. This system is a good compromise between the reduction in calibration time, which passed from half an hour to a couple of minutes, with a reduction in term of uncertainty in order of one percentage point of calibration volumes that was chosen of a depth of 10 centimeters… [edited by author]
X n.s.

Structured light is the most common 3D data acquisition technique used in the industry. Traditional Structured light methods are used to obtain the 3D information of an object. Multiple patterns such as Phase measuring profilometry, gray code patterns and binary patterns are used for reliable reconstruction. These multiple patterns achieve non-ambiguous depth and are insensitive to ambient light. However their application is limited to motion much slower than their projection time. These multiple patterns can be combined into a single composite pattern based on the modulation and demodulation techniques and used for obtaining depth information. In this way, the multiple patterns are applied simultaneously and thus support rapid object motion. In this thesis we have combined multiple gray coded patterns to form a single Gray code Composite Pattern. The gray code composite pattern is projected and the deformation produced by the target object is captured by a camera. By demodulating these distorted patterns the 3D world coordinates are reconstructed.

La percepció per visió es millorada quan es pot gaudir d'un camp de visió ampli. Aquesta tesi es concentra en la percepció visual de la profunditat amb l'ajuda de càmeres omnidireccionals. La percepció 3D s'obté generalment en la visió per computadora utilitzant configuracions estèreo amb el desavantatge del cost computacional elevat a l'hora de buscar els elements visuals comuns entre les imatges. La solució que ofereix aquesta tesi és l'ús de la llum estructurada per resoldre el problema de relacionar les correspondències.
S'ha realitzat un estudi sobre els sistemes de visió omnidireccional. S'han avaluat vàries configuracions estèreo i s'ha escollit la millor. Els paràmetres del model són difícils de mesurar directament i, en conseqüència, s'ha desenvolupat una sèrie de mètodes de calibració.
Els resultats obtinguts són prometedors i demostren que el sensor pot ésser utilitzat en aplicacions per a la percepció de la profunditat com serien el modelatge de l'escena, la inspecció de canonades, navegació de robots, etc.
Vision perception is enhanced when a large field of view is available. This thesis is focused on the visual perception of depth by means of omnidirectional cameras. The 3D sensing is obtained in computer vision by means of stereo configurations with the drawback of feature matching between images. The solution offered in this dissertation uses structured light projection for solving the matching problem.
First, a survey on omnidirectional vision systems was realized. Then, the sensor design was addressed and the particular stereo configuration of the proposed sensor was decided. An accurate model is obtained by a careful study of both components of the sensor. The model parameters are measured by a set of calibration methods.
The results obtained are encouraging and prove that the sensor can be used in depth perception applications such as scene modeling, pipe inspections, robot navigation, etc.

Multi Frequency Phase Measuring Profilometry is the most popular lateral contact 3-D Scanning technique. The Phase Measuring Profilometry is limited in resolution by the projector and cameras used. Conventional signal projectors have a maximum of 2000 to 4000 scan lines limiting the projector resolution. To obtain greater detail with higher resolution the PMP technique is applied to a Spatial Light Modulator (SLM) having 12000 lines, very large as compared to conventional projectors. This technology can achieve super resolution scans having varied applications. Scans achieved from PMP suffer from a certain type of artifact called “banding” which are periodic bands across the captured target. This leads to incorrect measurement of surfaces. Banding is the most limiting noise source in PMP because it increases with lower frequency and decrease in number of patterns. The requirement for lager number of patterns increases the possibility of motion banding. The requirement for higher frequency leads to the necessity for multifrequency PMP which, again leads to more patterns and longer scan times. We aim to reduce the banding by correcting the phase of the captured data.

Thesis (M.S.)--University of Kentucky, 2008.
Title from document title page (viewed on December 10, 2008). Document formatted into pages; contains: ix, 76 p. : ill. (some col.). Includes abstract and vita. Includes bibliographical references (p. 74-75).

La mesura estructurada de la llum ens permet obtenir una forma tridimensional de superfície d’un objecte amb una gran precisió. Així, troba aplicacions àmplies en aplicacions industrials. A més, projectant patrons de franja digital a l’objecte mesurat, la llum estructurada garanteix una mesura de superfície flexible. D’ altra banda, la llum estructurada també ens permet mesurar tant objectes especulars com objectes difusors. Per a la mesura d’ objectes especulars, s’ introdueix la deflectometria. Aquí, els patrons de serrells són generats per una pantalla de cristall líquid (LCD). Per a la mesura d’objectes difusors, s’introdueix la profilometria. En aquesta tècnica, els patrons de franja són projectats per un videoprojector. En aquesta tesi, primer proposem un sistema de deflectometria de mesurament en fase estereoscòpica (SPMD), que conté dues càmeres i un LCD comercial, per complir la mesura d’ objectes especulars. En particular, mitjançant la introducció de la càmera estereoscòpica, s’elimina la ambigüitat normal d’altura-normal sense moure cap component del sistema. A continuació, proposem un algoritme de minimització d’ errors de fase, que es compleix cercant la diferència de fase mínima entre els píxels corresponents de la pantalla LCD i la càmera, per determinar simultàniament la superfície normal i l’ altura. A més, per aconseguir una minimització de fases eficient, utilitzem un mètode d’ encaix polinòmic. Finalment, s’utilitza la integració bidimensional de Fourier per reconstruir la forma de la superfície especular. A part del mesurament de superfície especular amb deflectometria, també proposem un sistema de profilometria de projecció de serrells estereoscòpics (SFPP) per realitzar el mesurament de la forma de la superfície de l’objecte difusor. En particular, un sistema SFPP utilitza la mateixa càmera estereoscòpica que en la configuració de la deflectometria, però adopta un projector de vídeo per substituir la pantalla LCD per projectar els patrons de franja. Amb la introducció de la càmera estereoscòpica, evitem la complexa calibració del videoprojector, aconseguint així una gran flexibilitat del sistema. Per a la reconstrucció superficial, la triangulació geomètrica s’ implementa realitzant una interpolació de subpíxels 2D, a partir de la qual millorem la precisió de reconstrucció superficial. Els esmentats dos sistemes només ens permeten mesurar la forma superficial d’ un objecte especular o d’ un difusor, però mostren insuficiències per mesurar un objecte híbrid especular-difusor. En aquest escenari, combinem tots dos sistemes per realitzar el mesurament d’objectes híbrids de difusió especular. Aquí, un sistema híbrid de deflectometria-perfilometria estereoscòpica (SDPH) conté la càmera estereoscòpica, una pantalla LCD i un projector de vídeo. En aquest cas, aquest sistema híbrid supera la inadequació de sistemes lluminosos estructurats de projecció única, ja que no només garanteix la mesura d’objectes especulars o difusors, sinó que també permet la mesura d’objectes híbrids especular-difusors. Per tant, s’ amplia encara més l’ aplicació de la mesura estructurada de la llum. En resum, demostrem en aquesta tesi tres sistemes de llum estructurats basats en càmeres estereoscòpics per realitzar el mesurament de la forma en superfície tridimensional. Aquests sistemes estereoscòpics revelen un gran potencial, ja que són capaços de mesurar les formes superficials d’objectes especulars, objectes difusors i fins i tot d’objectes híbrids de difusió especulativa amb alta resolució. Els sistemes proposats poden ser beneficiosos en diverses aplicacions industrials, on es requereix un sistema de mesura de forma precisa de superfície amb un esquema fàcil d’ implementar.
La medición de luz estructurada nos permite obtener la forma tridimensional de la superficie de un objeto con alta precisión. Por lo tanto, encuentra amplias aplicaciones en aplicaciones industriales. Además, al proyectar patrones de franjas digitales en el objeto medido, la luz estructurada garantiza una medición de superficie flexible. Por otro lado, la luz estructurada también nos permite medir objetos especulares y objetos difusores. Para la medición de objetos especulares, se introduce la deflectometría. Aquí, los patrones marginales son generados por una pantalla de cristal líquido (LCD). Para la medición de objetos difusores, se introduce la profilometría. En esta técnica, los patrones marginales son proyectados por un video proyector. En esta tesis, en primer lugar, proponemos un sistema de deflectometría de medición de fase estereoscópica (SPMD), que contiene dos cámaras y una pantalla LCD comercial, para cumplir con la medición del objeto especular. En particular, al introducir la cámara estereoscópica, se elimina la ambigüedad no deseada de altura normal sin mover ningún componente del sistema. Aquí, proponemos un algoritmo de minimización de error de fase, que se cumple buscando la diferencia de fase mínima entre los píxeles correspondientes de la pantalla LCD y la cámara, para determinar simultáneamente la superficie normal y la altura. Además, para lograr una minimización de fase eficiente, utilizamos un método de ajuste polinómico. Finalmente, la integración bidimensional de Fourier se utiliza para reconstruir la forma de la superficie especular. Además de la medición de superficie especular con deflectometría, también proponemos un sistema de perfilometría de proyección de franja estereoscópica (SFPP) para lograr la medición de la forma de la superficie del objeto difusor. En particular, un sistema SFPP utiliza la misma cámara estereoscópica que en la configuración de deflectometría, pero adopta un proyector de video para reemplazar la pantalla LCD y proyectar los patrones marginales. Al presentar la cámara estereoscópica, evitamos la compleja calibración del proyector de video y, por lo tanto, se logra una gran flexibilidad del sistema. Para la reconstrucción de la superficie, la triangulación geométrica se implementa mediante la realización de una interpolación de subpíxeles 2D, desde la cual mejoramos la precisión de la reconstrucción de la superficie. Los dos sistemas mencionados anteriormente solo nos permiten medir la forma de la superficie de un objeto especular o difusor, pero muestran insuficiencias para medir un objeto híbrido especular-difusor. Bajo este escenario, combinamos ambos sistemas para realizar la medición de objeto híbrido especular-difusor. Aquí, un sistema híbrido de deflectometría-profilometría estereoscópica (SDPH) contiene la cámara estereoscópica, un LCD y un proyector de video. En este caso, este sistema híbrido supera la insuficiencia de los sistemas de luz estructurada de proyección única, ya que no solo garantiza la medición de objetos especulares o difusores, sino que también permite la medición de objetos híbridos especulares-difusores. Por lo tanto, la aplicación de la medición de luz estructurada se amplía aún más. En resumen, demostramos en esta tesis tres sistemas de luz estructurada basados en cámaras estereoscópicas para realizar mediciones tridimensionales de la forma de la superficie. Estos sistemas estereoscópicos revelan un gran potencial, ya que son capaces de medir las formas superficiales de objetos especulares, objetos difusores e incluso objetos híbridos de difusor especular con alta resolución. Los sistemas propuestos podrían ser beneficiosos en diversas aplicaciones industriales, donde se requiere un sistema preciso de medición de la forma de la superficie con un esquema fácil de implementar.
Structured light measurement allows us to obtain three-dimensional surface shape of an object with high accuracy. Thus, it finds extensive applications in industrial applications. Moreover, by projecting digital fringe patterns to the measured object, structured light guarantees a flexible surface measurement. On the other hand, structured light also allows us to measure both specular objects and diffuser objects. For specular object measurement, deflectometry is introduced. Here, the fringe patterns are generated by a liquid crystal display (LCD). For diffuser object measurement, profilometry is introduced. In this technique, the fringe patterns are projected by a video projector. In this thesis, we firstly propose a stereoscopic phase measuring deflectometry (SPMD) system, which contains two cameras and a commercial LCD, to fulfill the specular object measurement. In particular, by introducing the stereoscopic camera, the undesired height-normal ambiguity is eliminated without moving any system component. Here, we propose a phase error minimization algorithm, which is fulfilled by searching the minimum phase difference between the corresponding pixels of the LCD and the camera, to simultaneously determine the surface normal and height. What is more, to accomplish an efficient phase minimization, we use a polynomial fitting method. Finally, two-dimensional Fourier integration is used to reconstruct the specular surface shape. Apart from the specular surface measurement with deflectometry, we also propose a stereoscopic fringe projection profilometry (SFPP) system to accomplish the diffuser object surface shape measurement. In particular, an SFPP system uses the same stereoscopic camera as in the deflectometry set-up, but it adopts a video projector to replace the LCD to project the fringe patterns. By introducing the stereoscopic camera, we avoid the complex video projector calibration, and thus, a great system flexibility is achieved. For surface reconstruction, geometric triangulation is implemented by performing a 2D sub-pixel interpolation, from which we enhance the surface reconstruction accuracy. The aforementioned two systems enable us only to measure the surface shape of either a specular or a diffuser object, but they show inadequacies to measure a specular-diffuser hybrid object. Under this scenario, we combine both systems to perform the specular-diffuser hybrid object measurement. Here, a stereoscopic deflectometry-profilometry hybrid (SDPH) system contains the stereoscopic camera, an LCD and a video projector. In this case, this hybrid system overcomes the inadequacy of single projection structured light systems, as it not only ensures to measure specular or diffuser object, but it also allows the measurement of specular-diffuser hybrid objects. Hence, the application of structured light measurement is further broadened. In summary, we demonstrate in this thesis three stereoscopic camera based structured light systems to perform three-dimensional surface shape measurement. These stereoscopic systems reveal great potential as they are able to measure the surface shapes of specular objects, diffuser objects and even specular-diffuser hybrid objects with high resolution. The proposed systems could be beneficial in various industrial applications, where an accurate surface shape measurement system with an easy implemented scheme is required.

This thesis introduces a new robust and high precision methodology and corresponding techniques for reconstructing three-dimensional (3-D) views of real objects from one single two-dimensional (2-D) image. The reconstruction process relies on obtaining the two dimensional image of a real object from a camera, on which a colour coded structured light is projected. The method does not require any a-priori knowledge of the absolute positioning or orientation of the camera and the projector which illuminates the scene with the colour coded structured light. Prior to the 3-D reconstruction steps, a calibration process is used to provide a high precision calculation of both the camera's and the projector's intrinsic and extrinsic parameters. These parameters are essential to the 3-D object reconstruction technique as introduced in this thesis. The structured light is used to determine unique patterns on the object's surface. The lines provide a series of control points which once extracted from the object's 2-D view, are used in the creation of Non-Uniform Rational B-Spline (NURBS) curves in 2-D. Those NURBS curves are then projected into space to eventually re-create a 3-D surface. The technique's precision depends on the structured light sampling rate adaptation on the object surface. In a recent test, a 7 tau (thousands of an inch) precision was achieved with a relatively smooth object. The thesis will focus on the 3-D reconstruction of an object based on its single 2-D view. The approach proposed is end-to-end since it handles all the steps necessary to go from a 2-D view of an object to its modelization using NURBS curves and eventually to a surface in 3-D which can be manipulated with 3-D editing software on a computer monitor. The thesis's results are applicable to many domains. One of those domains is the CAD/SLA systems for manufacturing applications. Furthermore, NURBS surfaces can compress the 3-D image of a real object in a very efficient manner.

This thesis describes a project to create a hardware based 3D interior scanner. This was based on a previous project that created a scanner optimised for interior conditions, using structured light triangulation. The original project referred to as the Mark-I scanner, performed its control and processing on a PC and the primary goal of this project was to re-implement this system using hardware, making the scanner more portable and simpler to use. The Mark-I system required a specialised camera which had an unusually high noise associated with it, so a secondary goal was to investigate whether this camera could be replaced with a superior model or this noise corrected. A Mark-II scanner system was created using FPGA processing and control implemented in the VHDL language. This read from a CMOS camera, controlled the system's motor and laser, generated 3D points and communicated with users. A suitable camera was not found and the Mark-I scanners camera was found to have been damaged and become unusable, so a simulation environment was constructed that simulated the operation of the scanner, created 3D images for it to process, and tested its results. Chapter 1 of this thesis outlines the goals of this pro ject and describes the Mark-I system. Chapter 2 describes the theory and properties of the Mark-I system, and chapter 3 describes the work undertaken to replace the scanner's sensor. Chapter 4 describes the system created to interface to CMOS sensors, and chapter 5 outlines the theory involved in calculating 3D points using structured light triangulation. The final hardware scanner, and the simulation system used to test it, are then described in chapter 6.

The use of structured light illumination techniques for three-dimensional data acquisition is, in many cases, limited to stationary subjects due to the multiple pattern projections needed for depth analysis. Traditional Composite Pattern (CP) multiplexing utilizes sinusoidal modulation of individual projection patterns to allow numerous patterns to be combined into a single image. However, due to demodulation artifacts, it is often difficult to accurately recover the subject surface contour information. On the other hand, if one were to project an image consisting of many thin, identical stripes onto the surface, one could, by isolating each stripe center, recreate a very accurate representation of surface contour. But in this case, recovery of depth information via triangulation would be quite difficult. The method described herein, Modified Composite Pattern (MCP), is a conjunction of these two concepts. Combining a traditional Composite Pattern multiplexed projection image with a pattern of thin stripes allows for accurate surface representation combined with non-ambiguous identification of projection pattern elements. In this way, it is possible to recover surface depth characteristics using only a single structured light projection. The technique described utilizes a binary structured light projection sequence (consisting of four unique images) modulated according to Composite Pattern methodology. A stripe pattern overlay is then applied to the pattern. Upon projection and imaging of the subject surface, the stripe pattern is isolated, and the composite pattern information demodulated and recovered, allowing for 3D surface representation. In this research, the MCP technique is considered specifically in the context of a Hidden Markov Process Model. Updated processing methodologies explained herein make use of the Viterbi algorithm for the purpose of optimal analysis of MCP encoded images. Additionally, we techniques are introduced which, when implemented, allow fully automated processing of the Modified Composite Pattern image.

Phase Measuring Profilometry (PMP) is the most robust scanning technique for static 3D data acquisition. To make this technique robust to the target objects which are in motion during the scan interval a novel algorithm called ‘Pattern Interleaving’ is used to get a high density single scan image and making Phase Measuring Profilometry insensitive to ‘z’ motion and prevent motion banding which is predominant in 3D reconstruction when the object is in motion during the scan time

A miniaturized spatial light modulator (SLM)-based structured-light illumination module with optical fiber input is designed to generate a coded 256 x 256 spots pattern for 3-D areal mapping applications. The projector uses the light from a He-Ne laser coupled to a polarization-maintaining (PM) fiber to illuminate a specially made hologram so that four virtual point sources are regenerated. The interference pattern of the four sources are filtered and modulated by an SLM. The output intensity can thus be encoded to form any arbitrary pattern through the electronic input applied to the SLM with a high speed. In this thesis, a complete optical diffraction analysis of the system is presented to provide guidelines for the optimal design of the system parameters. Through the theoretical analysis for square beam array generation, the important parameters for fabricating a hologram are given. The final system optical design and arrangement based on optical analysis are described. The detailed opto-mechanical construction of the LIM and the associated alignment, the computer simulation and the preliminary test results of the developed LIM are also provided.
Master of Science

This thesis focuses on the problem of 3D acquisition using coded structured light (CSL). In CSL, a projected pattern impinges artificial texture onto the object surface, increasing the number of correspondences in the retrieved image. Finally, 3D acquisition is pursued by triangulation. An active research is being done in CSL techniques for moving scenarios. In this thesis, a review of the main CSL approaches is presented. Afterwards, we perform a deep study of the two most used frequency-based techniques, and a new proposal for automatic selection of the window width using Windowed Fourier Transform (WFT). Using this analysis, we implemented a new technique for one-shot dense acquisition, able to work in moving scenarios. The technique is based on adaptive WFT and DeBruijn coding. The results show the proposed method obtains dense acquisition with accuracy levels comparable to DeBruijn algorithms. Finally, the thesis focuses on the problem of registration in SL.
Esta tesis estudia el problema de la reconstrucción 3D con Luz Estructurada (LE). En LE se proyecta un patrón en la superficie del objecto, a fin de incrementar la textura y el número de correspondencias con la imagen capturada, de la que se extrae la información 3D. Actualmente se trabaja en soluciones de LE para entornos moviles. La tesis presenta un compendio de las principales tecnicas en LE. Además, se estudian en detalles las dos propuestas de análisis frecuencial, proponiendo un algoritmo para el análisis del patrón capturado. Con ésto, se propone un método de un único patrón proyectado, obteniendo reconstrucción densa. La técnica se basa en WFT combinado con codificación DeBruijn. Los resultados muestran niveles de precisión comparables con otras técnicas DeBruijn, pero obteniendo reconstrucción densa. Finalmente, se estudia el problema de registro de reconstrucciones LE.

La disponibilité de capteurs 3D rapides et précis a favorisé le développement de différentes applications dans les domaines de l’assemblage, de l’inspection, de la conception assistée par ordinateur (CAO), de l’ingénierie inverse, de la construction mécanique, de la médecine, et du divertissement, pour n’en citer que quelques-unes. Alors que les caméras 2D capturent des images 2D de la surface des objets, soit en noir-et-blanc, soit en couleur, les caméras 3D fournissent des informations sur la géométrie de la surface d’un objet. Aujourd’hui, les caméras 3D nouvellement introduites peuvent acquérir l’apparence et la géométrie des objets en même temps. La popularité et la disponibilité de ces modèles 3D a ouvert de nouveaux champs d’intérêts, comme segmentation de modèles 3D, la reconnaissance du modèles 3D, l’estimation des paramètres de modèles 3D et même la modélisation 3D. Dans ce projet, nous visons à faire une reconnaissance intelligente des différentes parties (primitives) d’un objet 3D. À cette fin, nous préparons d’abord une base de données de primitives de CAO 3D (i.e., plans, cylindres, cônes, sphères et tores). Ensuite, en utilisant les algorithmes de segmentation, les objets complexes sont décomposés en leurs primitives et, en utilisant des techniques de reconnaissance des formes, un descripteur est associé à chaque primitive et, enfin, un classificateur est formé pour apprendre les propriétés des primitives. Le manuscrit étudie différentes méthodes liées à ces défis. Une étape supplémentaire est également proposée dans ce projet, par l’estimation des paramètres des primitives et la génération de primitives de CAO, qui complète l’ensemble du processus d’ingénierie inverse.
The availability of fast and accurate 3D sensors has favored the development of different applications in assembly, inspection, Computer-Aided Design (CAD), reverse engineering, mechanical engineering, medicine, and entertainment, to list just a few. While 2D cameras capture 2D images of the surface of objects, either black-and-white or color, 3D cameras provide information on the geometry of an object surface. Today, newly introduced 3D cameras can acquire the appearance and geometry of objects concurrently. The popularity and availability of such these 3D models has opened new fields of interests, such as 3D model segmentation, 3D model recognition, estimation of 3D models’ parameters and even 3D modelling. In this project, we aim at recognizing different parts (primitives) of a 3D object, intelligently. For this purpose, we first prepare a database of 3D CAD primitives (i.g. planes, cylinders, cones, spheres and, tori). Then using segmentation algorithms, the complex objects are decomposed into their primitives and, by utilizing recognition techniques, a descriptor is extracted and associated to each primitive and, finally, a classifier is trained to learn the properties of primitives. The manuscript investigates different methods related to these challenges. An additional step is also proposed in this project which estimates the parameters of primitives and generate the CAD primitives that completes the whole process of reverse engineering.

3D face modeling is currently a popular area in Computer Graphics and Computer Vision. Many techniques have been introduced for this purpose, such as using one or more cameras, 3D scanners, and many other systems of sophisticated hardware with related software. But the main goal is to find a good balance between visual reality and the cost of the system. In this thesis, reconstruction of a 3D human face from a pair of stereo cameras is studied. Unlike many other systems, facial feature points are obtained automatically from two photographs with the help of a dot pattern projected on the object&
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s face. It is seen that using projection pattern also provided enough feature points to derive 3D face roughly. These points are then used to fit a generic face mesh for a more realistic model. To cover this 3D model, a single texture image is generated from the initial stereo photographs.

This thesis research proposes several significant improvements to a previously developed structured light range sensor in order to enhance its robustness. By applying modern methods to classical structured light techniques, the improved sensor is capable of adapting to many different environments and generating 3D surface reconstructions of more general and unconstrained scenes. This is achieved by combining several algorithms in parallel, which permits the sensor to adapt in a reliable and autonomous manner to multiple colours, reflective characteristics and depths of field of the scene. The main motivation of this research is to ultimately mount the range sensor on a mobile platform, and perform autonomous navigation, mapping, modelling and exploration of complex environments. This thesis presents enhancements to the processing stage of the sensor, a complete overhaul of the acquisition stage, as well as a comprehensive set of results that demonstrate how the sensor adapts to the environment. Also, a complete prototype for a robotic mobile exploration system is presented and tested, validating the methods and techniques presented in this work.

An approach to quantitatively determine patient surface contours as part of an augmented reality (AR) system for patient position and posture correction was developed. Quantitative evaluation of the accuracy of patient positioning and posture correction requires the knowledge of coordinates of the patient contour. The system developed uses the surface contours from the planning CT data as the reference surface coordinates. The corresponding reference point cloud is displayed on screen to enable AR assisted patient positioning. A 3D computer vision system using structured light then captures the current 3D surface of the patient. The offset between the acquired surface and the reference surface, representing the desired patient position, is the alignment error. Two codification strategies, spatial encoding, and temporal encoding, were examined. Spatial encoding methods require a single static pattern to work, thus enabling dynamic scenes to be captured. Temporal encoding methods require a set of patterns to be successively projected onto the object, the encoding for each pixel is only complete when the entire series of patterns has been projected. The system was tested on a camera tracking object. The structured light reconstruction was accurate to within ±1 mm, ±1.5 mm, and ±4 mm in x, y, and z-directions (camera optical axis) respectively. The method was integrated into a simplified AR system and a visualization scheme based on z-direction offset was developed. A demonstration of how the final AR-3D vision hybrid system can be used in a clinical situation was given using an anatomical teaching phantom. The system and visualisation worked well and demonstrated the proof of principal of the approach. It was found that the achieved accuracy was not yet sufficient for clinical use. Further work on improving the projector calibration accuracy is required. Both the camera registration process and 3D computer vision using structured light have been shown to be capable of sub-millimeter accuracy on their own. If that level of accuracy can be reproduced in this system, the concept presented can potentially be used in Oncology departments as a cost-effective patient setup guidance system for external beam radiotherapy, used in addition to current laser/portal imaging/cone beam CT based setup procedures.

The general aim of my master´s thesis is to study the actual principles of 3D scanning, the anatomy of human teeth, use of 3D scanning in dentistry and other medical fields. Another part of this thesis is about software and hardware design of 3D scanning system, which enable us to scan dental casts. This design is using webcam, projector and turntable. The principle of scanning is based on the activ triangulation. The output of 3D scanner is a horde of spots, which are used for reconstruction of a surface. The reconstructed surface is finally saved as .stl format.

Fingerprints are the most accurate and widely used biometrics for human identification due to their uniqueness, rapid and easy means of acquisition. Contact based techniques of fingerprint acquisition like traditional ink and live scan methods are not user friendly, reduce capture area and cause deformation of fingerprint features. Also, improper skin conditions and worn friction ridges lead to poor quality fingerprints. A non-contact, high resolution, high speed scanning system has been developed to acquire a 3D scan of a finger using structured light illumination technique. The 3D scanner system consists of three cameras and a projector, with each camera producing a 3D scan of the finger. By merging the 3D scans obtained from the three cameras a nail to nail fingerprint scan is obtained. However, the scans from the cameras do not merge perfectly. The main objective of this thesis is to calibrate the system well such that 3D scans obtained from the three cameras merge or align automatically. This error in merging is reduced by compensating for radial distortion present in the projector of the scanner system. The error in merging after radial distortion correction is then measured using the projector coordinates of the scanner system.

This diploma thesis deals with the design of a 3D optical scanner using the structured light projection method. The aim of this thesis is to demonstrate the principles and processes of 3D scanning by using the DLP LightCrafter projector and the ImagingSource camera. The individual stages of the measurement process will be implemented to the Matlab software environment to describe the various principles and methods which can be used for digitizing the objects.

"3D shape measurements are critical in a range of fields, from manufacturing for quality measurements to art conservation for the everlasting archival of ancient sculptures. The most important factor is to gather quantitative 3D information from measurement devices. Currently, there are limitations of existing systems. Many of the techniques are contact methods, proving to be time consuming and invasive to materials. While non-contact methods provide opportunities, many of the current systems are limited in versatility. This project focuses on the development of a fringe projection based system for 3D shape measurements. The critical advantage of the fringe projection optical technique is the ability to provide full field-of-view (FOV) information on the order from several square millimeters to several square meters. In the past, limitations in speed and difficulties achieving sinusoidal projection patterns have restricted the development of this particular type of system and limited its potential applications. For this reason, direct coding techniques have been incorporated to the developed system that modulate the intensity of each pixel to form a sinusoidal pattern using a 624 nm wavelength MEMS based spatial light modulator. Recovered phase data containing shape information is obtained using varying algorithms that range from a single image FFT analysis to a sixteen image, phase stepping algorithm. Reconstruction of 3D information is achievable through several image unwrapping techniques. The first is a spatial unwrapping technique for high speed applications. Additionally, the system uses an optimized Temporal Phase Unwrapping (TPU) algorithm that utilizes varying fringe frequencies ranging from 4 to 512 pixels per fringe to recover shape information in the time domain. This algorithm was chosen based on its robustness and accuracy for high resolution applications [Burke et al., 2002]. Also, unwrapping errors are minimized by approximately 90% as the number of images used is increased from the minimum to maximum fringe density. Cxoontrary to other systems, the 3D shape measurement system developed in the CHSLT laboratories has unprecedented versatility to accommodate a variety of applications with the z-depth resolution of up to 25.4 µm (0.001 inches) and speeds close to 200 frames per second. Hardware systems are integrated into user-friendly software that has been customized for fringe projection. The system has been tested in two extreme environments. The first is for quantification of cracks and potholes in the surface of roads under dynamic conditions. The second application was digitization of an art sculpture under static conditions. The system shows promising results and the potential for high quality images via algorithm optimization. Most importantly, there is potential to present real time 3D information at video speeds."

Phase measuring Profilometry (PMP) is an important technique used in 3D data acquisition. Many variations of the PMP technique exist in the research world. The technique involves projecting phase shifted versions of sinusoidal patterns with known frequency. The 3D information is obtained from the amount of phase deviation that the target object introduces in the captured patterns. Using patterns based on single frequency result in projecting a large number of patterns necessary to achieve minimal reconstruction errors. By using more than one frequency, that is multi-frequency, the error is reduced with the same number of total patterns projected as in the single frequency case. The first major goal of our research work is to minimize the error in 3D reconstruction for a given scan time using multiple frequency sine wave patterns. A mathematical model to estimate the optimal frequency values and the number of phase shift patterns based on stochastic analysis is given. Experiments are conducted by implementing the mathematical model to estimate the optimal frequencies and the number of patterns projected for each frequency level used. The reduction in 3D reconstruction errors and the quality of the 3D data obtained shows the validity of the proposed mathematical model. The second major goal of our research work is the implementation of a post-processing algorithm based on stereo correspondence matching adapted to structured light illumination. Composite pattern is created by combining multiple phase shift patterns and using principles from communication theory. Composite pattern is a novel technique for obtaining real time 3D depth information. The depth obtained by the demodulation of captured composite patterns is generally noisy compared to the multi-pattern approach. In order to obtain realistic 3D depth information, we propose a post-processing algorithm based on dynamic programming. Two different communication theory principles namely, Amplitude Modulation (AM) and Double Side Band Suppressed Carrier (DSBSC) are used to create the composite patterns. As a result of this research work, we developed a series of low-cost structured light scanners based on the multi-frequency PMP technique and tested them for their accuracy in different 3D applications. Three such scanners with different camera systems have been delivered to Toyota for vehicle assembly line inspection. All the scanners use off the shelf components. Two more scanners namely, the single fingerprint and the palmprint scanner developed as part of the Department of Homeland Security grant are in prototype and testing stages.

Structured light pattern projection techniques are well known methods of accurately capturing 3-Dimensional information of the target surface. Traditional structured light methods require several different patterns to recover the depth, without ambiguity or albedo sensitivity, and are corrupted by object movement during the projection/capture process. This thesis work presents and discusses a color multiplexed structured light technique for recovering object shape from a single image thus being insensitive to object motion. This method uses single pattern whose RGB channels are each encoded with a unique subpattern. The pattern is projected on to the target and the reflected image is captured using high resolution color digital camera. The image is then separated into individual color channels and analyzed for 3-D depth reconstruction through use of phase decoding and unwrapping algorithms thereby establishing the viability of the color multiplexed single pattern technique. Compared to traditional methods (like PMP, Laser Scan etc) only one image/one-shot measurement is required to obtain the 3-D depth information of the object, requires less expensive hardware and normalizes albedo sensitivity and surface color reflectance variations. A cosine manifold and a flat surface are measured with sufficient accuracy demonstrating the feasibility of a real-time system.

In a near future, the computation power will be widely used in endoscopy rooms. It will enable the augmented reality already implemented in some surgery. Before reaching this, a preliminary step is the development of a 3D reconstruction endoscope. In addition to that, endoscopists suffer from a lack of quantitative data to evaluate dimensions and distances, notably for the polyp size measurement.

In this thesis, a contribution to more a robust 3D reconstruction endoscopic device is proposed. Structured light technique is used and implemented using a diffractive optical element. Two patterns are developed and compared: the first is based on the spatial-neighbourhood coding strategy, the second on the direct-coding strategy. The latter is implemented on a diffractive optical element and used in an endoscopic 3D reconstruction device. It is tested in several conditions and shows excellent quantitative results but the robustness against bad visual conditions (occlusions, liquids, specular reflection,) must be improved.

Based on this technology, an endoscopic ruler is developed. It is dedicated to answer endoscopists lack of measurement system. The pattern is simplified to a single line to be more robust. Quantitative data show a sub-pixel accuracy and the device is robust in all tested cases. The system has then been validated with a gastroenterologist to measure polyps. Compared to literature in this field, this device performs better and is more accurate.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished

Cette thèse s'inscrit dans le cadre d'un projet national nommé SRDViand dont le but fut de développer un système robotisé pour le désossage et la découpe des animaux de boucherie. Afin de déterminer les trajectoires de découpe de manière intelligente, un système de lumière structurée a été développé. Il se réfère à des systèmes de vision qui utilisent des modèles de projection de lumière pour des tâches de reconstruction 3D. Afin d'obtenir les meilleurs résultats, la définition d'une nouvelle méthode d'étalonnage pour les systèmes de lumière structurée a été établie. Basé sur un large état de l'art et également sur la proposition d'une classification de ces méthodes, il a été proposé d'étalonner une paire caméra projecteur en utilisant l'asservissement visuel. La validité et les résultats de cette méthode ont été éprouvés sur la base de nombreux tests expérimentaux menés dans le cadre du projet SRDViand. Suite à l'élaboration de cette méthode, un prototype permettant la découpe des bovins a été réalisé
This thesis is part of a national project named SRDViand whose aim was to develop a robotic system for the deboning and cutting of animals meat. To determine the cut paths, a structured light system has been developed. It refers to vision systems that use light projection models for 3D reconstruction tasks. To achieve best results, the definition of a new calibration method for structured light systems was established . Based on a large state of the art and also with a proposed classification of these methods, it has been proposed to calibrate a camera projector pair using visual servoing . The validity and the results of this method were tested on the basis of numerous experimental tests conducted under the SRDViand project. Following the development of this method, a prototype bovine cutting was performed

The health and productive output of dairy cows can be closely correlated to individual cow feed intake. Being able to monitor feed intake on a daily basis is beneficial dairy farm management. Each cow can be addressed individually with minimal time required from those working with the animals. This is essential as time management is closely tied to resource management in a dairy operation. Anything that can save time and resources and increase profitability and herd health is a paramount advantage in dairy farming. This study examined the use of machine vision structured light illumination three-dimensional scanning of cow feed to determine the volume and weight of feed in a bin before and after feeding dairy cow. Calibration and control tests were conducted to determine the effectiveness and capability of implementing such a machine vision feed scanning system. Such a system is ideal as it does not obstruct workflow or cow feeding behavior. This is an improvement over existing systems as the system in this research study can be implemented into existing farm operations with minimal effort and costs.

Med den tekniska utvecklingen inom 3D-skanning det senaste decenniet har användningen av punkmolnsdata ökat signifikant. För att skapa dessa punkmoln används en mängd olika metoder och instrument. Bland annat används ofta fotogrammetri, terrester laserskanning eller mobil laserskanning. Med de nyare mobila skannrarna används oftast en SLAM-algoritm för att kunna korrekt skanna omgivningen samtidigt som skannern förflyttas. Till detta används oftast en IMU som positionerar skannern genom tröghetsnavigering eller kameror för att med triangulering bestämma positionen. Med nya förbättrade algoritmer och utrustning blir systemen hela tiden noggrannare och det utvecklas fler och fler nya system, ofta för specifika användningsområden. Matterport Pro2 3D-kamera som testades i detta projekt är ett sådant system som huvudsakligen utvecklats för att genom skanning, RGB-D och 360°- bilder visualisera och skapa digitala modeller av bostäder. Dessa modeller skapas både i form av punktmoln och meshmodeller. I projektet undersöks hur olika ljusförhållanden påverkar resultatet vid skapande av 3D-modeller med Matterport Pro2 kameran. Uppmätta längder mellan signaler utplacerade i testrummet användes för att kontrollera punktmolnen. Totalt skannades rummet fem gånger vid olika ljussättning varierande från 1 till 800 lux. Avvikelserna i längderna från punktmolnen jämfördes för att avgöra vilket punktmoln som avvek minst från de uppmätta längderna i rummet. Resultatet tyder på att bästa ljussättningen är runt 30 - 60 lux. Ingen skillnad i mätosäkerhet mellan övriga ljusnivåer kunde ses. Utöver det visar avvikelserna också tecken på påtagliga systematiskt fel vilket inte är helt oväntat och har påvisats av en tidigare studie av samma kamera. Detta betyder att kameran behöver kalibreras innan den används för skanning som kräver låg mätosäkerhet.
Due to the technological development within 3D-scanning the last decade usage of pointcloud data has increased significantly. To generate these pointclouds a plethora of methods and instrument are used. Among other photogrammetry, terrestrial laser scanning and mobile laser scanning are commonly used. With the newer mobile scanning systems a SLAM algorithm is usually used for the scanner to correctly scan the surroundings while being moved at the same time. To achieve this a IMU is usually used for positioning or cameras using triangulation. With new algorithms and equipment scanning systems keeps improving. This leads to more and more systems being developed, usually for a specific area of usage. Matterport Pro2 3D-camera which was tested in this project is such a system developed mainly for visualising and creating 3D-models of housing through scanning, RGB-D and 360°-images. These models generated are pointclouds aswell as meshmodels. In this project the effect of different illuminance has on the results when creating 3D-models with the Pro2 camera is tested. Measured distances between targets placed around the testing room were used for checking the point clouds for errors. In total five scans were performed at different illuminance varying from 1 – 800 lux. Deviations between measured distances and point cloud distances were compared to determine which point cloud deviated the least. Results show that an illuminance of about 30 - 60 lux gave the best result. Any significant differences between the other light conditions could not be determined. Furthermore, the results imply there is a systematic error which is not completely unexpected and has been shown in a previous study with the same camera. This means the camera needs a calibration before being used to scan where higher accuracy is needed.

L'utilisation de franges d'interférence en lumière blanche comme une sonde optique en microscopie interférométrique est d'une importance croissante dans la caractérisation des matériaux, la métrologie de surface et de l'imagerie médicale. L'Interférométrie en lumière blanche est une technique basée sur la détection de l'enveloppe de franges d'interférence. Il a été démontré antérieurement, la capacité des approches 2D à rivaliser avec certaines méthodes classiques utilisées dans le domaine de l'interférométrie, en termes de robustesse et de temps de calcul. En outre, alors que la plupart des méthodes tiennent compte seulement des données 1 D, il semblerait avantageux de prendre en compte le voisinage spatial utilisant des approches multidimensionnelles (2D/3D), y compris le paramètre de temps afin d'améliorer les mesures. Le but de ce projet de thèse est de développer de nouvelles approches n-D qui sont appropriées pour une meilleure caractérisation des surfaces plus complexes et des couches transparentes
The use of white light interference fringes as an optical probe in microscopy is of growing importance in materials characterization, surface metrology and medical imaging. Coherence Scanning Interferometry (CSI, also known as White Light Scanning Interferometry, WSLI) is well known for surface roughness and topology measurement [1]. Full-Field Optical Coherence Tomography (FF-OCT) is the version used for the tomographic analysis of complex transparent layers. Both techniques generally make use of some sort of fringe scanning along the optical axis and the acquisition of a stack of xyz images. Image processing is then used to identify the fringe envelopes along z at each pixel in order to measure the positions of either a single surface or of multiple scattering objects within a layer.In CSI, the measurement of surface shape generally requires peak or phase extraction of the mono dimensional fringe signal. Most of the methods are based on an AM-FM signal model, which represents the variation in light intensity measured along the optical axis of an interference microscope [2]. We have demonstrated earlier [3, 4] the ability of 2D approaches to compete with some classical methods used in the field of interferometry, in terms of robustness and computing time. In addition, whereas most methods only take into account the 1D data, it would seem advantageous to take into account the spatial neighborhood using multidimensional approaches (2D, 3D, 4D), including the time parameter in order to improve the measurements.The purpose of this PhD project is to develop new n-D approaches that are suitable for improved characterization of more complex surfaces and transparent layers. In addition, we will enrich the field of study by means of heterogeneous image processing from multiple sensor sources (heterogeneous data fusion). Applications considered will be in the fields of materials metrology, biomaterials and medical imaging

La fabrication de pièces manufacturées génère un nombre très important de données de différents types définissant les géométries de fabrication ainsi que la qualité de production. Ce travail de thèse s’inscrit dans le cadre de la réalisation d’un système de vision cognitif dédié à l’évaluation d’objets 3D manufacturés incluant éventuellement des surfaces gauches, en tenant compte des tolérances géométriques et des incertitudes. Ce système permet un contrôle exhaustif de pièces manufacturées et offre la possibilité d’une inspection tridimensionnelle automatique de la pièce. La mise en place d’un système de mesures multi-capteurs (passifs et actifs) a permis d’améliorer significativement la qualité d’évaluation par le biais d’une reconstruction tridimensionnelle enrichie de l’objet à évaluer. En particulier, nous avons employé simultanément un système stéréoscopique de vision et un système à projection de lumière structurée afin de reconstruire les contours et les surfaces de différents objets 3D
Producing industrially manufactured parts generates a very large number of data of various types defining the manufacturing geometries as well as the quality of production. This PhD work has been carried out within the framework of the realization of a cognitive vision system dedicated to the 3D evaluation of manufactured objects including possibly free form surfaces, taking into account the geometric tolerances and uncertainties. This system allows the comprehensive control of manufactured parts, and provides the means for their automated 3D dimensional inspection. The implementation of a multi-sensor (passive and active) measuring system enabled to improve significantly the assessment quality through an enriched three-dimensional reconstruction of the object to be evaluated. Specifically, we made use simultaneously of a stereoscopic vision system and of a structured light based system in order to reconstruct the edges and surfaces of various 3D objects

Nowadays there is a strong demand for lighter vehicles in order to increase the pay load. Through this the specific fuel consumption is decreased, the amount of greenhouse gases is lowered and the transport economy improved. One possibility to optimize the weight is to make the components from high strength steels and join them by welding. Welding is the main joining method for fabrication of a large proportion of all engineering structures. Many components experience fatigue loading during all or part of their life time and welded connections are often the prime location of fatigue failure.Fatigue fracture in welded structures often initiates at the weld toe as aconsequence of large residual stresses and changes in geometry acting as stress concentrators. The objective of this research is to increase the understanding of the factors that control fatigue life in welded components made from very high strength steels with a yield strength of more than 800 MPa. In particular the influences of the local weld toe geometry (weld toe radius and angle) and residual stress on fatigue life have been studied. Residual stresses have been varied by welding with conventional as well as Low Transformation Temperature (LTT) filler materials. The three non-destructive techniques Weld Impression Analysis (WIA), Laser Scanning Profiling (LSP) and Structured Light Projection (SLP) have been applied to evaluate the weld toe geometry.Results suggest that all three methods could be used successfully to measure the weld toe radius and angle, but the obtained data are dependent on the evaluation procedure. WIA seems to be a suitable and economical choice when the aim is just finding the radius. However, SLP is a good method to fast obtain a threedimensional image of the weld profile, which also makes it more suitable for quality control in production. It was also found that the use of LTTconsumables increased fatigue life and that residual stress has a relatively larger influence than the weld toe geometry on fatigue strength of welded parts.

Constantly growing people’s needs and industrial technologies cause the necessity to increase transport, which simultaneously increases the risk of accidents on the roads and spills of hazardous substances, including leakage of oil, hydraulic fluids, lubricants, and cargo spillage. These substances threaten the safety of road, all the road users and natural environments. Asphalt road surfaces are degraded by fuel or other liquid spillages; they can contribute to increase road surface material damage during vehicles trafficking. The effects of spilled substances on the road surface and consequently on the environment and user safety depend also on the exposure time. Due to the unpredictable of accidental situations and the positioning within the territory, there are situations that are managed at different time. Therefore, the exposure time become a fundamental parameter to be considered in the test to evaluate the different behaviors of road surface and the variation in danger over time. In this scenario, the research aims to evaluate the effects of hazardous liquid spilled from vehicles on the asphalt properties and related safety parameters by means of two combined high-resolution 3D geomatic techniques and over different exposure time. Geomatic techniques employed for the characterization of the asphalt samples belong to two different categories: active triangulation techniques (3D structured light projection scanner) and photogrammetric techniques (digital photogrammetry). These techniques are able to perform a three-dimensional modeling of the detected objects: a process that goes from data acquisition to the creation of a virtual 3D model. Products of these modeling should guarantee the maximum geometry accuracy and photo-realistic nature of the scanned objects. Some indicators have been extracted from high-resolution 3D models to study changes in asphalt performances due to the spillage of five different hazardous substances.