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1 a Structured Light Based 3D Reconstruction Using Combined A Structured Light Based 3D Reconstruction Using Combined Circular Phase Shifting Patterns Dissertation Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By Yujia Zhang Graduate Program in Geodetic Science The Ohio State University 2019 Dissertation Committee Dr. Alper Yilmaz, Advisor Dr. Alan Saafeld Dr. Rongjun Qin 1 Copyrighted by Yujia Zhang 2019 2 Abstract Coded structured light is one of the most effective and reliable techniques for surface reconstruction. With a calibrated projector-camera stereo system, a set of illuminating patterns are projected onto the scene by the projector and the images are captured by the camera. The correspondences between projector and camera frames are calculated in the decoding process, which is used for triangulation and point cloud generation. The continuous phase shifting method is a well-known fringe projection technique for 3D scanning, where a set of sinusoidal patterns showing variation of intensity or color are projected onto the surface. The most common phase shifting patterns are constituted by periodic and absolute cue strips in one or two axes. However, the shortcoming of phase shifting methods is the sensitivity to illumination effects such as subsurface scattering and inter-reflections caused by projecting reflection or occlusions. Therefore, the most accurate method is the combination of gray code and phase shift, which preserve a stable decoding as well as subpixel accuracy. To improve the processing speed, the patterns is multiplexed in frequency or color space to reduce to number of projecting patterns. This proposal, introduces a novel circular phase shifting method to improve the decoding accuracy, without the trade-off between processing speed and decoding accuracy. In the proposed approach, three-step circular phase shifting and absolute patterns are used for increasing the multiplicity since the circular patterns are coded in all directions. With the radius correspondences decoded from circular phase shifting patterns, subpixel accuracy of ii correspondences throughout all directions can be obtained. The stereo triangulation is more stable and accurate than line-plane intersection used in single axis structured light methods with fewer decoding errors. Robust gray patterns are applied to resolve the ambiguity resolution caused by reflectance discontinuities in the phase shifting decoding process. In this thesis, I have a complete setup of the structured light based 3D scanning system, including hardware and software. A novel structured light reconstruction method using combined circular phase shifting patterns is presented. In order to compare with state-of- the-arts, I have implemented several established structured light algorithms, such as conventional gray codes, maximum min-SW gray codes, logical XOR codes, three step phase shifting codes and micro phase shifting codes. A series of experiments are completed to compare the qualitative and quantitative performance of each method. The novel combined circular phase shifting method enables high-quality and high-speed dense reconstruction with limited number of images. Structured light based 3D scanning has broad applications in many fields with its high accuracy, high speed or even real time 3D reconstruction. In this thesis, a medical application of structured light based 3D reconstruction system is presented for intraoperative radiation therapy (IORT). This system is constitute of structured light 3D scanning and fiducial tracking of the devices, which allows automated intraoperative co- registration of patient and radiotherapy device. This system uses structured light scanning to get the 3D coordinates of the patient and a monocular camera, which tracks the motion of the radiotherapy device with fiducial markers. In order to get more stable and accurate tracking results, the combination between camera tracking and inertial navigation using iii IMU (Inertial Navigation Unit) is in consideration. The two motion tracking results are combined through the extended Kalman filter algorithm. iv To my family, my advisor and my friends v Acknowledgments My first thanks goes to my advisor, Dr. Yilmaz, for his valuable guidance. He is one of the most important persons in my academic life, who has given me patiently mentorship and tremendous support to my research for six years. He not only gives me research ideas, but also teaches me the philosophy of life, which benefits my academic and career life in the future. I want to express my full gratitude to my other committee members, Dr. Saafeld and Dr. Qin. Both have been very helpful for my Ph.D. study in Ohio State University. I would also like to thank my lab mates, Dr. Young Jin Lee, Dr. Siavash HosseinyAlamdary, Dr. Changlin Xiao, M. Taha Koroglu, Nima Ajam Gard, Guanyu Xu, Xuhui Su, Shirui Li, Michael Karnes and Bing Zha, for the discussions and happy times we have experienced. My special appreciation goes to Michael Karnes, for his help in modifying my dissertation. I am also very grateful that Dr. Fei Wang and Dr. Jinmei Pan, my best friends here, give me help and happiness in my living life in Ohio. Finally, I would like to thank my parents, who provide me the unwavering support that has motivated my Ph.D. study. vi Vita 2005-2008……………………………………Shihezi No.1 High School, China 2007-2011……………………………………B.S. School of Geodesy and Geomatics, Wuhan University 2012 to present……………………………….Graduate Student, School of Geodetic Science, The Ohio State University Publications Zhang Yujia, Yilmaz Alper, “Structured light based 3D scanning for specular surface by the combination of gray code and phase shifting”, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B3, 137-142, https://doi.org/10.5194/isprs-archives-XLI-B3-137- 2016, 2016. Huai Jianzhu, Zhang Yujia, Yilmaz Alper, “S Real-time large scale 3D reconstruction by fusing Kinect and IMU data”. ISPRS Ann. Photogramm. Remote Sens. Spat. Inf. Sci. 2015, II-3-W5, 491–496. Zhang Yujia, Yilmaz Alper, “A Novel Structured Light Reconstruction Method Using Combined Circular and Column Phase Shifting Patterns.” In processing of ASPRS Annual Conference 2019. vii Zhang Yujia, Yilmaz Alper, “A Structured Light Based 3D Reconstruction Using Combined Gray and Circular Phase Shifting Patterns.” In processing of ISPRS Journal 2019. Fields of Study Major Field: Geodetic Science viii Table of Contents Abstract ............................................................................................................................... ii Acknowledgments.............................................................................................................. vi Vita .................................................................................................................................... vii List of Tables .................................................................................................................... xii List of Figures .................................................................................................................. xiii Chapter 1. Introduction ....................................................................................................... 1 1.1 Background and Motivation ................................................................................. 2 1.2 Contributions ........................................................................................................ 3 1.3 Structure of the Dissertation ................................................................................. 4 Chapter 2. Related Work.................................................................................................... 6 2.1 Discrete Coding Methods ......................................................................................... 6 2.2 Continuous Coding Methods .................................................................................... 8 Chapter 3. Background Knowledge .................................................................................. 10 3.1 Structured Light System Calibration .................................................................. 10 3.1.1 Camera Calibration .......................................................................................... 11 3.1.2 Projector Calibration ........................................................................................ 15 3.1.3 Stereo Calibration ............................................................................................ 16 3.1.4 Calibration Process .......................................................................................... 16 3.2 Coding Methods ................................................................................................. 18 3.2.1 Binary Coding .................................................................................................. 18 3.2.2 Maximum min-SW Gray Code ........................................................................ 22 3.2.3 Phase Shifting Methods ................................................................................... 23 3.3 Three-Dimensional Reconstruction by Triangulation ........................................ 34 3.3.1 Algebraic Triangulation ................................................................................... 35 3.3.2 Ray-Plane Intersection ..................................................................................... 37 ix 3.3.3 Ray-Ray Intersection ......................................................................................
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