By Christian Wöhler
This necessary textual content introduces the rules of three-d machine imaginative and prescient and describes fresh contributions to the sphere. totally revised and up-to-date, this much-anticipated re-creation studies quite a number triangulation-based equipment, together with linear and package adjustment dependent techniques to scene reconstruction and digicam calibration, stereo imaginative and prescient, aspect cloud segmentation, and pose estimation of inflexible, articulated, and versatile gadgets. additionally coated are intensity-based concepts that review the pixel gray values within the photo to deduce 3-dimensional scene constitution, and aspect unfold functionality established techniques that take advantage of the influence of the optical process. The textual content indicates how equipment which combine those techniques may be able to elevate reconstruction accuracy and robustness, describing purposes in business caliber inspection and metrology, human-robot interplay, and distant sensing.
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Extra resources for 3D Computer Vision: Efficient Methods and Applications
8 for the trinocular Point Grey Digiclops wide-angle camera system with a field of view of 70◦ . The size of each square amounts to 30 × 30 mm2 . The rig was printed out at 600 dpi and attached to a wooden board. 4 Geometric Calibration of Single and Multiple Cameras 39 in the acquired calibration images. It has been used for the convergent stereo camera setup employed in some of the three-dimensional surface inspection scenarios described in Chap. 6, which consists of two Baumer CCD cameras of 1032 × 776 pixel image size equipped with Cosmicar video lenses of f = 25 mm, for the trinocular Point Grey Digiclops system used for the three-dimensional reconstruction of flexible objects in Chap.
The coordinate of interest is the intersection of the edges of the four adjacent chequerboard fields, thus a point. The projection of a point is invariant to the aforementioned influences, as it remains a point. In contrast, the centre of a projected circle is not necessarily found at the same image position as the projection of the centre of the observed circle; thus circular targets suffer from a bias in their centre coordinates. This effect becomes increasingly pronounced when lens distortion effects become stronger.
The projected images of the lines are generally not parallel and intersect at an image point S v˜ with welldefined image coordinates, called the ‘vanishing point’. Cipolla et al. (1999) present a framework to directly estimate the intrinsic camera parameters based on three vanishing points, the associated directions of which are orthogonal with respect to each other. They suggest that parallel lines are extracted manually from the image. According to Hartley and Zisserman (2003), vanishing points denoting orthogonal directions allow a determination of the IAC ω, and for two such vanishing points with the sensor coordinates S v˜ 1 and S v˜ 2 the relation S v˜ T1 ωS v˜ 2 = 0 is valid.
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