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A Sheffield Hallam University Thesis Surface scanning with uncoded structured light sources. ROBINSON, Alan. Available from the Sheffield Hallam University Research Archive (SHURA) at: http://shura.shu.ac.uk/20284/ A Sheffield Hallam University thesis This thesis is protected by copyright which belongs to the author. The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the author. When referring to this work, full bibliographic details including the author, title, awarding institution and date of the thesis must be given. Please visit http://shura.shu.ac.uk/20284/ and http://shura.shu.ac.uk/information.html for further details about copyright and re-use permissions. REFERENCE ProQuest Number: 10700929 All rights reserved INFORMATION TO ALL USERS The quality of this reproduction is dependent upon the quality of the copy submitted. In the unlikely event that the author did not send a com plete manuscript and there are missing pages, these will be noted. Also, if material had to be removed, a note will indicate the deletion. uest ProQuest 10700929 Published by ProQuest LLC(2017). Copyright of the Dissertation is held by the Author. All rights reserved. This work is protected against unauthorized copying under Title 17, United States C ode Microform Edition © ProQuest LLC. ProQuest LLC. 789 East Eisenhower Parkway P.O. Box 1346 Ann Arbor, Ml 48106- 1346 Surface Scanning with Uncoded Structured Light Sources Alan Robinson A thesis submitted in partial fulfilment of the requirements of Sheffield Hallam University for the degree of Doctor of Philosophy January 2005 Surface Scanning with Uncoded Structured Light Sources Abstract Structured Light Scanners measure the surface of a target object, producing a set of vertices which can be used to construct a three-dimensional model of the surface. The techniques are particularly appropriate for measuring the smoothly undulating, featureless forms which Stereo Vision methods find difficult, and the structured light pattern explicitly gives a dense graph of connected vertices, thus obviating the need for vertex- triangulation prior to surface reconstruction. In addition, the technique provides the measurements almost instantaneously, and so is suitable for scanning moving and non-rigid objects. Because of these advantages there is an imperative to extend the range of scannable surfaces to those including occlusions, which often reduce or prevent successful measurement. This thesis investigates ways of improving both the accuracy and the range of surface types which can be scanned using structured light techniques, extending current research by examining the role of occlusions and geometric constraints, and introducing novel algorithms to solve the Indexing Problem. The Indexing Problem demands that for every pattern element in the projected image, its counterpart, reflected from the surface of the target object, must be found in the recorded image, and most researchers have declared this problem to be intractable without resorting to coding schemes which uniquely identify each pattern element. The use of urtcoded projection patterns, where the pattern elements are projected without any unique identification, has two advantages: firstly it provides the densest possible set of measured vertices within a single video timeframe, and secondly it allows the investigation of the fundamental problems without the distraction of dealing with coding schemes. These advantages educe the general strategy adopted in this thesis, of attempting to solve the Indexing Problem using uncoded patterns, and then adding some coding where difficulties still remain. In order to carry out these investigations it is necessary to precisely measure the system and its outputs, and to achieve this requirement two scanners have been built, a Single Stripe Scanner and a Multiple Stripe Scanner. The Single Stripe Scanner introduces the geometric measurement methods and provides a reference output which matches the industry standard; the Multiple Stripe Scanner then tests the results of the investigations and evaluates the success of the new algorithms and constraints. In addition, some of the investigations are tested theoretically, by using synthetic data and by the solution of geometric diagrams. Surface Scanning with Uncoded Structured Light Sources These evaluations of success show that, if occlusions are not present in the recorded data, the Indexing Problem can often be completely solved if the new indexing algorithms and geometric constraints are included. Furthermore, while there are some cases where the Indexing Problem cannot be solved without recourse to a coding scheme, the addition of occlusion detection in the algorithms greatly improves the indexing accuracy and therefore the successful measurement of the target surface. iii Surface Scanning with Uncoded Structured Light Sources Publications A. Robinson, L. Alboul and M.A. Rodrigues, Methods for Indexing Stripes in Uncoded Structured Light Scanning Systems, Journal of WSCG, 12(3), pp. 371-378, 2004. M.A. Rodrigues and Alan Robinson, Image Processing Method and Apparatus, Rotational Position Estimator and 3D Model Builder (Tripods), UK Patent Application 0402420.4, February 4th, 2004. M.A. Rodrigues, Alan Robinson and Lyuba Alboul, Apparatus and Methods for Three Dimensional Scanning, Multiple Stripe Scanning Method, UK Patent Application No. 0402565.6, February 5th, 2004. Surface Scanning with Uncoded Structured Light Sources Acknowledgments The author would like to thank the Geometric Modelling and Pattern Recognition group of Marcos Rodrigues, Lyuba Alboul, Georgios Chliveros, Jacques Penders, Gilberto Echevarria, David Cooper, Charilaos Alexakis and Alexander Chamski, at Sheffield Hallam University for their unstinting help in producing this thesis. Many thanks must also go to Sanaz Jabbari for help in formulating the system geometry. Dedicated to Mat Tatlow, an inspiration throughout this work. v Surface Scanning with Uncoded Structured Light Sources Contents A bstract.............................................................................................................................................. ii Publications ................................................................................................................. iv Acknowledgments ........................... v C ontents ............................................................................................................................................ vi List of Figures ............................................................................................................................... xii List of Tables .................................................................................................................................xiv Chapter 1: Introduction .............................................................................................................. 1 1.1. Methods of Recording 3D Surfaces .....................................................................................2 1.2. Structured Light Scanning .....................................................................................................3 1.3. Defining the Principal Research Questions .......................................................................4 1.3.1. The Indexing Problem .................................................................................................. 4 1.3.2. Coding Schemes ............................................................................................................5 1.3.3. The Principal Research Questions.................................................................................6 1.4. Choosing the Projection Pattern ................................................. 6 1.5. Geometric and Topological Considerations ........................................................................ 7 1.6. Vertex Connections .......................................... 7 1.7. Ambiguous Interpretation ..................................................................................................... 9 1.8. Definitions and Identification of Occlusions ..................................................................... 10 1.9. Geometric Constraints .........................................................................................................10 1.10. Definitions of Success ....................................................................................................12 1.11. Summary of Investigation Topics ..................................................................................12 1.12. Original Contributions ....................................................................................................13 1.13. Overview of the Thesis...................................................................................................14 Chapter 2: Prior Work on Surface Measurement .............................................................. 16 2.1.1. Image-based methods ...................................................................................................16 2.1.2. Interferometry and other wave analysis techniques .................................................. 16 2.1.3. Time-of-flight systems ................................................................................................ 17 2.2. Triangulation Rangefinding ................................................................................................ 17 2.3. Stereo Vision Techniques ..............................................................................
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