| Summary: | 碩士 === 國立臺灣科技大學 === 資訊管理系 === 101 === The purpose of this thesis is to make use of Microsoft’s KINECT for a rapid 3D model construction of objects in the real word. As KINECT is equipped with both the capability of capturing both color and depth, it can be used to construct a 3D mesh, together with the color and texture of mesh.
The main technique involved is Iterative Closest Point, or ICP in short, to align the point clouds captured from multiple viewing angles by KINECT, so that a more complete model can be obtained. As ICP is a time-consuming process, and the data for alignment is huge, a preprocessing step is performed to build a multi-resolution pyramid to reduce the data size and to speed up the ICP computation as a result. In addition, the global motion can be detected in the low-frequency component, while the local motion in the high-frequency component.
ICP can be used to align two point clouds captured at different times, and the goal is to find the correspondence in between. We start with the low-frequency component in the pyramid for ICP, and gradually refine to high-frequency component for the points which do not match well, until the correspondence of all points can be found. For each alignment, the derived transformation is performed to align a group of point cloud to the other. Finally the color/texture information acquired previously can be applied to achieve the 3D model construction.
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