Real-Time High Resolution

brasscoffeeΤεχνίτη Νοημοσύνη και Ρομποτική

17 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

90 εμφανίσεις

Real
-
Time High Resolution
Photogrammetry

John Morris,

Georgy Gimel’farb and
Patrice Delmas

CITR, Tamaki Campus,

University of Auckland

Applications


Navigation


Collision avoidance in traffic


Manoeuvring in dynamic environments


Biometrics


Face recognition


Tracking individuals


Films


Markerless motion tracking


Security


Intelligent threat detection


Civil Engineering


Materials Science


Archaeology


Why Stereo?


Passive


Suitable for dense environments


Wide area 3D data can be acquired at high
rates


Textureless regions cause problems


Active illumination can resolve these

Photogrammetry Laboratory
-

Resources


Commercial structured lighting system


Slow, limited depth of field


Very accurate (~0.3mm) within its range (1
-
5m)


Provides ‘ground truth’ for other techniques


Advanced structured lighting techniques


Efficient labelling patterns


Hybrid systems


Structured lighting/Active illumation/Stereo


High resolution cameras


4 x Canon digital SLR (2 x 6Mpixel, 2 x 8Mpixel)


2 x Baesler 25fps, 2 x Pixelink 25fps


4 x Allied Vision (2 with IR capability)


Precise alignment, stable baselines


High speed cameras


2 x Fastec 250 fps


FPGA development kits


Altera Development Kits


Under development: Firewire interface


2 x medium resolution
video cameras

Photogrammetry Lab


Stereo


Canon digital
SLRs



6 Mpixels


Low distortion
lenses


Stable optical
base


Precise
alignment


Provision for
verging optics


Target:
Accurate
3D
environment
maps


Projects


Real time stereo vision


Implementation of Symmetric Dynamic Programming Stereo
on FPGA hardware


Real time precise stereo vision


Faster, smaller hardware circuit


Real time 3D maps


1% depth accuracy with 2 scan line latency


Stereo Applications


Collision avoidance for automobiles and robots


Face recognition via 3D models


Fast model acquisition via stereo pairs


Resin flow in composite laminate formation


Motion capture


athletes, actors


Projects


High Quality Rendering


Scene rendering (movie quality) acceleration with
FPGA hardware


Next generation animated movie requirements:


Rendering farms with 1000’s of processors


Power supply alone becomes a major problem!


Custom hardware attached processors


Computationally intensive task


Speed ups of 10 or more


Same work with fewer processors

… and fewer power cuts!


Example Project:

Composite Formation


Resin drawn by vacuum into flat bag containing fibre mat


Problem: Measure shape of advancing resin wavefront


Solution:


Stereo with verging camera axis configuration


Process time series of images


Transform and measure phase shift

Composite Materials Laboratory


Tamaki Campus


Same building as Wine Science



8Mpixel Canon digital SLRs on stable base with precise
alignment


Resin wavefront


Profiles along the mould at 1, 2, 3, 4 minutes


Note the resolution! Left scale is mm.

-1.2
-1.0
-0.8
-0.6
-0.4
-0.2
0.0
0.2
0.4
0.6
0.8
mm
minute 1
minute 2
minute 3
minute 4