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系統識別號 U0026-2609201815314700
論文名稱(中文) 用於非平行光軸影像之基於特徵描述稠密式匹配法
論文名稱(英文) A Dense Matching Method with Feature Based Descriptors for Non-Parallel Optical Axes Images
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) 湯力行
研究生(英文) Li-Hsing Tang
學號 Q46051027
學位類別 碩士
語文別 英文
論文頁數 108頁
口試委員 指導教授-王大中
口試委員-詹紹勳
口試委員-彭兆仲
中文關鍵字 立體視覺  極線約束  平行運算 
英文關鍵字 Stereo Vision  Epipolar Constraint  Parallel Compute 
學科別分類
中文摘要 三維掃描因為其快速、相對便宜的特性在各個領域大為使用,為不同領域、不同尺寸的物體進行掃描,包含製造業、建築、藝術和健康照護。在為微小及敏感的物體提供三維外型掃描時,操作上必須額外的小心,特別是微小的人體器官。方法選擇上,通常會使用非接觸式的掃描方式。非平行光軸立體視覺系統是其中一種適合為微小物體掃描的非接觸式方法。其原理是利用相機的相對位置與視差進行深度量測,與傳統的立體視覺法不同,將相機以非平行的方式擺放縮短與物體的距離,進而得到更多的資訊。然而,將光軸旋轉後得到的影像也會有所改變,傳統的區域性稠密式匹配無法有效的處理這樣的影像變換。為此,本研究為非平行光軸立體視覺系統提供改良的立體影像匹配,以特徵描述為匹配代價,克服旋轉光軸帶來的影像變換,結合區域性稠密式匹配提供大量的匹配點數,以非平行光軸系統特殊的極線關係約束匹配範圍增加準確度及匹配速度,並且使用平行運算為演算法提供具有競爭力的效率。本論文的成果提供了改良的影像匹配法,可為非平行光軸立體視覺系統做人體的微小器官做三維外型掃描使用。
英文摘要 3D scanning has been widely applied in different fields because of its rapidity, coverage and low cost. 3D scanning can be used to scan objects of different sizes and in different fields, including manufacturing, architecture, art/history and healthcare. However, when using 3D scanning for small, sensitive items, it is necessary to operate more carefully, especially in the case of small human organs. Generally, a non-contact scanning method is the best choice for such delicate areas of human body. The non-parallel optical axes system stereo vision system, which is a non-contact scanning method, is a feasible method for small items. The theory of depth measurement depends on the geometrical relationship between the cameras and the disparities obtained from image matching. Instead of placing cameras in parallel as is customary in traditional stereo vision, it acquires more information from an image by rotating the optical axes to close to the object. However, the rotation of optical axes results in changes in the image, and the traditional local dense matching method doesn’t perform well when this occurs. Thus, this thesis provides a modified stereo matching method for the non-parallel optical axes system. To overcome the image transformation caused by the rotation of the optical axes, a feature based descriptor is taken as the matching cost and combined with local dense matching for the purpose of reconstructing the dense point cloud. Then, the accuracy is improved by constraining the search area using the modified epipolar constraint of the non-parallel optical axes system. Also, parallelizing the algorithm makes the proposed method more competitive. This research provides a modified image matching method for non-parallel optical axes to scan small human organs.
論文目次 摘要 I
ABSTRACT II
致謝 III
CONTENTS IV
LIST OF FIGURES VI
LIST OF TABLES VIII
NOMENCLATURE IX
CHAPTER 1 INTRODUCTION 1
1.1 Motivation 1
1.2 Literature Review 5
1.3 Thesis Outline 9
THE NON-PARALLEL OPTICAL AXES STEREO VISION SYSTEM 10
2.1 Stereo Vision 11
2.2 Non-Parallel Optical Axes System 16
2.3 Epipolar Geometry 21
2.4 Depth Measurement System 24
2.5 Unit Conversion 25
2.6 Camera Calibration 29
CHAPTER 3 STEREO MATCHING FOR THE NON-PARALLEL OPTICAL AXES IMAGE 32
3.1 ORB: Oriented FAST and Rotated BRIEF 34
3.1.1 oFAST: FAST Keypoint Orientation 34
3.1.2 BRIEF 36
3.1.3 sBRIEF: steered BRIEF 39
3.1.4 rBRIEF: Rotation-aware BRIEF 40
3.2 The Color-BRIEF 42
3.3 Local Dense Matching 44
3.4 Modified Epipolar Constraint 49
3.5 Bidirectional Matching 52
3.6 Algorithm Acceleration 53
3.7 Parallelization Theory 55
3.7.1 Amdahl’s Law [55] 55
3.7.2 Gustafson’s Law [56] 57
3.8 Image Segmentation 60
CHAPTER 4 EXPERIMENT 62
4.1 Experimental Hardware 63
4.2 Camera Calibration Experiment 68
4.3 Stereo Matching Results 81
4.4 Discussion 97
CHAPTER 5 CONCLUSION AND FUTURE WORK 99
REFERENCES 101

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