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系統識別號 U0026-0309201811593000
論文名稱(中文) 非平行光軸立體視覺系統物體輪廓偵測
論文名稱(英文) Stereo Vision System with Non-parallel Optic Axes for Small Object Contour Detection
校院名稱 成功大學
系所名稱(中) 民航研究所
系所名稱(英) Institute of Civil Aviation
學年度 106
學期 2
出版年 107
研究生(中文) 王怡晴
研究生(英文) I-Chin Wang
學號 q46041056
學位類別 碩士
語文別 英文
論文頁數 77頁
口試委員 指導教授-王大中
口試委員-詹劭勳
口試委員-彭兆仲
中文關鍵字 立體視覺系統  距離量測  三維輪廓重建 
英文關鍵字 Stereo Vision System  Distance Measurement  3D reconstruction 
學科別分類
中文摘要   積層製造技術,又稱為3D列印,逐漸應用在各個領域中,如汽車工業、航材、醫療、甚至是食品等。在醫學上,隨著積層製造結合再生醫學的發展,3D列印人造器官為移植病患帶來希望,為再生醫學領域帶來新的進步,其優勢之一就是能客製化打造物件。醫療上,為提供三維列印器官的外型掃描功能,需符合對人體無害、成本低、使用快速方便等特性,立體視覺系統是一符合以上特性的方法,屬於非接觸式掃描,透過環境光,傳統的立視覺系統在平行光軸下,藉由視差來獲得深度資訊。本研究使用立體視覺系統,在非平行光軸下近距離掃描物體,重建出物體輪廓。公式的推導是藉由兩相機座標系的投影幾何關係,結合造鏡者公式,建立出一向量數學模型,得到兩相機投影點與目標物距離的關係式。在輪廓重建上,先用內插法將未匹配成功的點補上,再來使用高斯平滑處理雜訊問題,最後曲面擬合出表面。本論文的成果可為三維建模前,提供形狀掃描功能,特別為特殊需要如眼部,提供無害的掃描方式。
英文摘要 Additive Manufacturing (AM), also known as 3D printing, has been gradually applied in various fields, such as the automotive, aviation materials, medical, and even food industries. In medicine, with the development of AM combined with regenerative medicine, 3D printing of artificial organs now brings hope to transplant patients. One of the advantages of AM is the ability to create customized objects. In order to provide the shape scanning function to the field of medicine, there are some conditions that must be met: harmless to humans, low cost, fast, and easy to use. Stereo Vision System, which is an aspect of non-contact scanning, is one method that has these characteristics. Traditional stereo vision cameras are placed in parallel and obtain depth information based on disparities. This research use Stereo Vision System with non-parallel optic axes to scan small objects at close proximity to construct a contour. Through the vector mathematical model established by projection geometry and two camera coordinate systems, the formula describes the relationship between projections on two camera sensors and the object distance. In the contour reconstruction, the un-matched points are complemented by interpolation first, then Gaussian smoothing is used to deal with the noise problem. Finally, use surface fitting to build the object’s surface. This research provides a scanning method for 3D modeling, especially for special needs such as scanning eyes.
論文目次 摘要 I
ABSTRACT II
致謝 IV
TABLE OF CONTENTS V
LIST OF TABLES VII
LIST OF FIGURES VIII
NOMENCLATURE X
CHAPTER 1 INTRODUCTION 1
1.1 Motivation 1
1.2 Literature Review 4
1.3 Outline of This Research 8
CHAPTER 2 COMPUTER VISION 9
2.1 Single Camera Imaging System 9
2.1.1 Projective Geometry 9
2.1.2 Camera Intrinsic Parameters 12
2.1.3 Camera Extrinsic Parameters 13
2.1.4 Camera Calibration 15
2.2 Stereo Vision System 16
2.2.1 Epipolar Geometry 16
2.2.2 Fundamental Matrix 17
2.2.3 Image Rectification 20
2.2.4 Stereo Vision 22
CHAPTER 3 STEREO VISION SYSTEM WITH NON-PARALLEL OPTIC AXES 25
3.1 Theory of a Stereo Vision System with Non-parallel Optic Axes 26
3.2 Practical Use of a Stereo Vision System with Non-parallel Optic Axes 31
3.3 Unit Conversion 37
3.4 Calibration of the Camera Extrinsic Parameters 39
3.5 Image Processing-Sharpness 41
3.6 Stereo Matching 42
CHAPTER 4 CONTOUR RECONSTRUCTION 45
4.1 Mesh Interpolation 46
4.2 Mesh Smoothing 47
4.3 Surface Fitting 49
CHAPTER 5 EXPERIMENTAL RESULTS 51
5.1 Experimental Hardware 52
5.2 Experimental Setup 54
5.3 Conversion of Unit Results 55
5.4 Calibration of the Results for the Camera Extrinsic Parameters 56
5.5 Contour Detection Results 62
5.5.1 Stereo Matching and Distance Results 63
5.5.2 Mesh Interpolation Results 64
5.5.3 Mesh Smoothing Results 66
5.5.4 Surface Fitting Results 68
CHAPTER 6 CONCLUSION AND FUTURE WORK 71
REFERENCES 73
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