| Summary: | 博士 === 國立交通大學 === 資訊工程研究所 === 81 === In this dissertation, the algorithms for estimating the 3-D
location and shape parameters of primitive objects using a
structured light vision system are proposed. Complex surface/
volume structures can be constructed as hierarchies of simpler
components. It has also been observed that 85% of man-made
objects can be perfectly represented or can be well
approximated by a small number of primitive patches, namely,
planar, cylindrical, conic, and spherical patches. Hence, the
determination of 3-D location and shape parameters of primitive
objects is of fundamental imprtance in 3-D object
reconstruction. In our vision system an expanded laser beam
passes through a code plane marked with two sets of parallel
and equally spaced lines that are perpendicular to each other
and the resultant grid light impinges on an object surface to
create a spatial-encoded image for analysis. The projected
curved stripe pattern appearing on the object surface is
related to the position and structure of the imaged object
surface. A crucial step in our method is to convert the
estimation problem with the complex curved stripe patterns to
an equivalent, but simpler estimation problem with linear
stripe patterns. Based on the obserable or constructible
geometric entities that are formed on the object surface, we
can estimate the location and shape parameters of primitive
objects. Using the various physical constraints or properties
derived from the structured light geometry, the object surface
geometry and image formation principle, we can improve or
refine the estimation result significantly.
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