Professional Documents
Culture Documents
Shape Shape
3D Scanning
3D Scanning
Szymon Rusinkiewicz Princeton University COS 426 Guest Lecture Spring 2003
Rendering Rendering
3D Scanning Applications
Computer graphics Product inspection Robot navigation AsAs-built floorplans Product design Archaeology Clothes fitting Art history
Industrial Inspection
Determine whether manufactured parts are within tolerances
Medicine
Plan surgery on computer model, visualize in real time
Medicine
Plan surgery on computer model, visualize in real time
Medicine
Plan surgery on computer model, visualize in real time
Medicine
Plan surgery on computer model, visualize in real time
Scanning Buildings
Quality control during construction AsAs-built models
Scanning Buildings
Quality control during construction AsAs-built models
Clothing
Scan a person, customcustom-fit clothing U.S. Army; booths in malls
Goals
Scan 10 sculptures by Michelangelo HighHigh-resolution (quarter(quarter-millimeter) geometry Side projects: architectural scanning (Accademia (Accademia and Medici chapel), scanning fragments of Forma Urbis Romae
HighHigh-visibility project
?
ugnetto
side face
Contact
Range acquisition
Transmissive
Reflective
Touch Probes
Jointed arms with angular encoders Return position, orientation of tip
Stereo
Find feature in one image, search along epipolar line in other image for correspondence
Multibaseline Stereo
Disadvantages:
Mathematically unstable Cant have texture
Photometric stereo
Shape from shading with multiple known lights
Disadvantages:
NotNot-soso-great accuracy (at best ~5 mm.)
Requires getting timing to ~30 picoseconds Does not scale with working volume
Triangulation
Triangulation
Object Laser
Object Laser
(x,y)
Camera Camera
Camera Camera
Uncalibrated motions vertical translation rolling the gantry remounting the scan head
Photograph