[3D Reconstruction] 3D Reconstruction 접근법

목표 "3D Reconstruction" 

 

based Point Cloud

using Kinect. Streo camera

in OpenNI

 

 

1. 스테레오 카메라로 입력받은 이미지를(ex using Kinect) Point Cloud(or ICP)를 이용하여 3D Reconstuction.

2. Original Object를 자연마커로 설정

3. 3D Modeling 된 객체를 자연마커 위에 증강

 

 

 

 

KinectFusion - Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera [28C3]

 

출처 :

https://www.youtube.com/watch?v=bRgEdqDiOuQ&ebc=ANyPxKpzUvOzRK0XIGsFDZXDNzLCr8q6AbHo5wJlH5TiH_CcsNau5OqDDfWOnwZXuE8SYy9Lsq4vV7aM4QgyBkhkR0PiKJdQSQ&nohtml5=False 

 

 

Iterative Closest Point(ICP) with very 3D point

 

- Used to align overlapping 3D point clouds

- Assumption : point clouds are roughly aligned

1. Individual points of the previous and the current frame are projectively associated through the same image frame

2. Distance and angle compatibility is checked

3. Energy function is minimized.(energy function (linear system, best fit, hole point))

4. An offset transformation between the point clouds is acquired and applied

5. The previous steps are iterated multiple times

 

 

 

 

 

 

 

 

 

 

 

data structure 

 

depth number, single point, negative, 

 = "Ray Cast Rendering"

 

 

 

 

 

 

Object Segmentation

 

 

 

 

 

Limitations

- Voxel model isn't very flexible

- Can't properly model deformations

- Doesn't work for large areas

- Doesn't work for far away objects

- Doesn't work outdoors

- Requires a really powerful gamer PC...

 

 

 

 

 

 

 

 

 

3D Reconstruction with stereo cameras

 

for more information, 

https://erget.wordpress.com/2014/05/02/producing-3d-point-clouds-from-stereo-photos-tuning-the-block-matcher-for-best-results/ 

Optimizing point cloud production from stereo photos by tuning the block matcher

 

 

 

https://www.youtube.com/watch?v=Ebxj04uhmS8&nohtml5=False 

 

Real-time 3D Reconstruction at Scale using Voxel Hashing

https://www.youtube.com/watch?v=XD_UnuWSaoU&nohtml5=False 

more information , 

http://research.microsoft.com/en-us/projects/voxelhashing/ 

Real-time 3D Reconstruction at Scale using Voxel Hashing - Microsoft Research

 

http://skanect.occipital.com/ 

Skanect 3D Scanning Software By Occipital - The Easiest Way To 3D Scan With the Structure Sensor and Kinect-like 3D Sensors

 

http://reconstructme.net/ 

Digitize Your World

 

-> Boost 함수 관련 링크

http://www.viper.pe.kr/cgi-bin/moin.cgi/Boost 

 

-> Boost 라이브러리 빌드 설치 관련 링크

http://themangs.tistory.com/entry/boost-%EB%9D%BC%EC%9D%B4%EB%B8%8C%EB%9F%AC%EB%A6%AC-%EB%B9%8C%EB%93%9C-%EC%84%A4%EC%B9%98-%EB%B9%84%EC%A5%AC%EC%96%BC-%EC%8A%A4%ED%8A%9C%EB%94%94%EC%98%A4VS 

boost 라이브러리 빌드 설치 [비쥬얼 스튜디오(VS)]

http://www.3dcombine.com/ 

3DCombine Home Page

 

그리고, Kinect를 이용한 3D reconstruction, Openni, OpenGL(렌더링할때), OpenCV 사용하여 구현한 것 (네이버, Kinect 카페)

 

3D Reconstruction : 

http://www-cvr.ai.uiuc.edu/ponce_grp/publication/paper/eccv06a.pdf 

 

Kinect와 OpenNI, OpenCV 연동하기

http://blog.naver.com/PostView.nhn?blogId=ocllos&logNo=192886384&categoryNo=0&parentCategoryNo=18&viewDate=&currentPage=1&postListTopCurrentPage=1 

[Kinect+OpenCV] Kinect 와 openNI , openCV 연동하기

 

opencv, openNI, 연동해서 depth 영상 받아오기

http://blog.naver.com/ocllos/124822258 

[Kinect+OpenCV] OpenNI + OpenCV 이용해서 New 프로젝트 만드는법

 

진짜 Kinect 관련글 잘정리되어있는 티스토리 블로그

http://talkingaboutme.tistory.com/category/About%20Kinect 

'About Kinect' 카테고리의 글 목록