Lub zeem muag 3D yog ntau qhov kev qhuab qhia uas muaj cov duab kos duab, khoos phis tawj, thiab kev txawj ntse. Nws lub hom phiaj ua kom cov tshuab nkag siab thiab ua cov ntaub ntawv hauv peb - qhov chaw seem, ua tiav qhov kev nkag siab tob, kev paub, thiab kev nkag siab ntawm cov khoom thiab cov xwm txheej.
Lub luag haujlwm tseem ceeb
3D Reconstruction
Kev kwv yees qhov tob ntawm 3D scenes lossis digital sampling ntawm cov khoom nto, nrog rau kev ua thiab tso saib cov ntaub ntawv 3D; monocular reconstruction, binocular reconstruction, teeb pom kev zoo-raws li reconstruction, laser-raws li reconstruction; loj -scale 3D reconstruction, mobile 3D reconstruction.
Pose kwv yees
Kev suav ntawm txoj haujlwm thiab kev taw qhia ntawm lub koob yees duab lossis cov khoom hauv peb -qhov chaw lub cev, thiab qhov tiag- sijhawm taug qab.
3D kev nkag siab
Cov khoom nrhiav pom, paub txog, thiab rov qab tau, nrog rau segmentation thiab semantic labeling ntawm scenes lossis khoom.
Cov Cai Ua Haujlwm
3D pom kev pom yog ib txoj hauv kev tseem ceeb tshaj plaws rau kev nkag siab cov ntaub ntawv hauv kev lag luam neeg hlau, thiab tuaj yeem muab faib ua qhov muag pom thiab tsis yog - txoj kev kho qhov muag. Tam sim no, txoj kev kho qhov muag yog siv dav tshaj plaws.
Sijhawm - ntawm- Davhlau (TOF) Txoj Kev
Txoj kev no suav qhov kev ncua deb rau ib yam khoom los ntawm kev ntsuas lub sijhawm sib txawv ntawm lub teeb emission thiab txais tos. Siv lub koob yees duab TOF ua piv txwv, txhua pixel siv lub sijhawm sib txawv ntawm lub teeb ya mus kom tau qhov tob ntawm cov khoom. Hauv txoj kev ntsuas classic, lub tshuab ntes pib lub sijhawm thaum nws tawm lub teeb mem tes, khaws lub voj voog - lub sijhawm mus ncig thaum nws tau txais lub hom phiaj lub teeb ncha, thiab kwv yees lub hom phiaj nyob deb raws li tus qauv.
Nws muab faib ua direct TOF (DTOF) thiab indirect TOF (I-TOF). DTOF feem ntau yog siv nyob rau hauv ib qho - cov ntsiab lus sib txawv, thiab ua tiav cheeb tsam - duab 3D dav feem ntau yuav tsum tau siv tshuab scanning; Kuv-TOF qhia tsis ncaj rau lub sijhawm ntawm kev ncig mus ncig los ntawm lub sijhawm-gated ntsuas ntawm lub teeb siv, tshem tawm qhov xav tau rau lub sijhawm meej, thiab tam sim no yog cov khoom lag luam rau cov khoom siv hluav taws xob thiab kho qhov muag raws li TOF koob yees duab. TOF daim duab tuaj yeem siv rau kev pom loj, ntev-nruab deb, qis- qhov tseeb, thiab qis- nqi 3D duab tau, thiab siv rau kev nkag siab ib puag ncig hauv cov tshuab ntse tsis muaj neeg siv (xws li neeg hlau, tsheb tsis muaj neeg tsav tsheb, drones, thiab lwm yam).
Structured Light Projection 3D duab
Structured light projection 3D imaging tam sim no yog txoj hauv kev tseem ceeb rau 3D pom kev pom hauv cov neeg hlau. Lub projector ua haujlwm ib qho qauv teeb pom kev zoo rau lub hom phiaj khoom, xws li kab txaij lossis Grey code qauv, thiab lub koob yees duab ntes cov duab hloov kho los ntawm lub hom phiaj. Vim lub undulations ntawm cov khoom nto, cov qauv teeb pom kev zoo yog deformed ntawm cov khoom nto. Los ntawm kev ua cov duab thiab siv cov qauv kev pom los sib piv cov qauv ua ntej thiab tom qab deformation, thiab tshuaj xyuas cov qauv distortion, peb - cov ntaub ntawv sib koom ua ke ntawm txhua qhov taw qhia ntawm lub hom phiaj qhov chaw tuaj yeem suav tau.
Hauv kev siv neeg hlau tes - qhov muag system daim ntawv thov, rau cov xwm txheej uas qhov kev ntsuas 3D siab tsis tas yuav tsum tau (xws li palletizing, depalletizing, thiab 3D grasping), tus qauv ntawm qhov projecting pseudo-random speckle qauv kom tau txais lub hom phiaj 3D cov ntaub ntawv yog nrov heev. Txoj kev no feem ntau yog siv rau hauv kev tshuaj ntsuam xyuas thiab 3D qauv, thiab tuaj yeem tau txais cov ntaub ntawv 3D ntawm cov khoom nto. Lub teeb pom kev teeb pom kev zoo muaj ntau lub projectors thiab lub koob yees duab. Cov qauv tsim muaj xws li: ib lub projector-ib lub koob yees duab, ib lub projector-dual lub koob yees duab, ib lub projector-ntau lub koob yees duab, ib lub koob yees duab-dual projectors, thiab ib lub koob yees duab-ntau lub projectors.
Lub hauv paus ntsiab lus ntawm kev ua haujlwm ntawm lub teeb pom kev zoo 3D duab yog raws li hauv qab no: lub projector ua haujlwm ib qho qauv teeb pom kev zoo rau lub hom phiaj khoom, lub koob yees duab ntes cov duab modulated los ntawm lub hom phiaj, thiab tom qab ntawd cov ntaub ntawv 3D ntawm lub hom phiaj yog tau los ntawm kev ua cov duab thiab cov qauv pom. Cov hom projectors muaj xws li: kua siv lead ua zaub (LCD), digital light modulation projection (DLP: xws li digital micromirror devices (DMD)), thiab laser LED qauv direct projection.
Raws li tus naj npawb ntawm cov teeb pom kev zoo, teeb pom kev zoo 3D duab tuaj yeem muab faib ua ib zaug -shot 3D thiab multi-shot 3D txoj kev. Ib leeg- tua teeb pom kev tsuas yog siv spatial multiplexing encoding thiab zaus multiplexing encoding. Cov ntaub ntawv encoding muaj xws li: xim encoding, grayscale indexing, geometric shape encoding, thiab random speckle qauv. Tam sim no, nyob rau hauv robotic tes- qhov muag system daim ntawv thov, rau cov xwm txheej uas siab 3D ntsuas qhov tseeb tsis tas yuav tsum tau, xws li palletizing, depalletizing, thiab 3D grasping, txoj kev projecting pseudo{12}}random speckle qauv kom tau cov hom phiaj 3D ntaub ntawv yog dav siv.
Ntau-txoj kev tua 3D feem ntau siv sijhawm-multiplexing encoding. Cov qauv qauv encoding muaj xws li: binary encoding, multi-frequency phase-hifting encoding, thiab hybrid encoding method (xws li Grey code and phase-shifting fringes). Lub hauv paus ntsiab lus ntawm kev teeb pom kev zoo 3D yog qhia hauv daim duab hauv qab no. Cov qauv teeb pom kev zoo yog tsim los siv lub khoos phis tawj lossis cov cuab yeej kho qhov muag tshwj xeeb, thiab tom qab ntawd muab tso rau saum npoo ntawm cov khoom nyob rau hauv kev sim siv qhov ntsuas qhov muag. Ib qho khoom siv duab (xws li CCD lossis CMOS lub koob yees duab) yog siv los ntes cov duab teeb pom kev zoo uas tau hloov kho thiab deformed los ntawm cov khoom nto. Cov duab ua cov algorithms yog siv los xam cov ntawv xov xwm ntawm txhua pixel hauv daim duab thiab cov ntsiab lus ntawm cov khoom contour. Thaum kawg, peb qhov - cov ntaub ntawv qhov loj me ntawm cov khoom raug suav nrog siv cov qauv qauv thiab nws cov tshuab calibration. Hauv cov ntawv thov, Grey code projection, sinusoidal phase-shifting fringe projection, or a hybrid Grey code and sinusoidal phase-shifting 3D technology are commonly used.
Rau qhov chaw ntxhib, teeb pom kev zoo tuaj yeem ncaj qha mus rau qhov khoom nto rau kev ntsuas qhov muag pom; Txawm li cas los xij, rau 3D kev ntsuas ntawm qhov zoo nkauj ntawm qhov chaw zoo nkauj thiab cov khoom siv iav, cov qauv teeb pom kev tsis tuaj yeem ua ncaj qha rau ntawm qhov chaw hauv qab kev sim, thiab kev ntsuas 3D yuav tsum tau siv cov tswv yim xav txog kev xav.
Nyob rau hauv cov tswv yim no, cov fringes tsis ncaj qha mus rau lub contour ntawm cov khoom nyob rau hauv kev ntsuam xyuas, tab sis theej mus rau ib tug scattering screen, los yog ib tug kua siv lead ua zaub (LCD) screen yog siv ncaj qha mus tso saib cov fringes. Lub koob yees duab tau txais cov ntaub ntawv fringe modulated los ntawm curvature hloov ntawm lub ci ntsa iab los ntawm txoj kev pom lub teeb, thiab tom qab ntawd xam cov peb -dimensional contour morphology.
Scanning 3D duab
Scanning 3D imaging txoj kev tuaj yeem muab faib ua ntau hom scanning, active triangulation, thiab chromatic confocal txoj kev. Scanning ranging siv lub teeb sib sib zog nqus los luam theej duab tag nrho lub hom phiaj saum npoo rau 3D ntsuas. Cov txheej txheem scanning ntau yam xws li: ib zaug -lub sijhawm taw tes- ntawm- txoj kev dav hlau, xws li kev hloov pauv tsis tu ncua yoj zaus (FM-}CW) ntau yam thiab mem tes ntau yam (LiDAR); laser scattering interferometry, xws li interferometers raws li multi-wavelength cuam tshuam, holographic cuam tshuam, cuam tshuam lub teeb dawb, thiab speckle cuam tshuam cov hauv paus ntsiab lus; thiab confocal txoj kev, xws li chromatic confocal thiab autofocusing.
Hauv ib qho - taw tes sib piv scanning 3D txoj kev, tib lub sijhawm - taw tes- ntawm - txoj kev ya dav hlau yog qhov tsim nyog rau qhov ntev - scanning, tab sis qhov ntsuas qhov tseeb yog qhov qis, feem ntau nyob rau hauv millimeter range. Lwm yam -point scanning txoj kev muaj xws li ib qho -point laser interferometry, confocal microscopy, thiab ib zaug -point active laser triangulation. Cov txheej txheem no muaj qhov ntsuas qhov tseeb, tab sis yav dhau los yuav tsum muaj kev tswj hwm ib puag ncig. Line scanning muaj qhov tseeb nruab nrab thiab ua haujlwm siab. Active laser triangulation thiab chromatic confocal microscopy yog tshwj xeeb tshaj yog haum rau 3D ntsuas ntawm qhov kawg effector ntawm ib tug neeg hlau caj npab. Active triangulation yog raws li lub hauv paus ntsiab lus ntawm triangulation, siv ib tug collimated beam los yog ib los yog ntau tshaj planar beams scan lub hom phiaj nto rau 3D ntsuas.
Lub teeb beam feem ntau tau txais los ntawm txoj kev hauv qab no: laser collimation, cylindrical los yog quadric nto prismatic beam expansion, tsis yog -coherent lub teeb (xws li lub teeb dawb, LED teeb qhov chaw) projected los ntawm qhov me me, slits (gratings), los yog coherent lub teeb diffraction. Active triangulation yuav muab faib ua peb hom: ib zaug -point scanning, ib zaug - kab scanning, thiab multi- kab scanning. Tam sim no, feem ntau cov khoom lag luam muaj rau cov neeg hlau caj npab kawg yog ib qho - taw tes thiab ib qho - kab scanners.
Hauv ntau -kab scanning txoj kev, txhim khu kev qha txheeb xyuas tus lej fringe yog ib qho nyuaj. Txhawm rau txheeb xyuas tus lej fringe kom raug, ob pawg ntawm cov dav hlau perpendicular feem ntau yog duab ntawm kev kub ceev hauv kev hloov pauv. Qhov no kuj ua rau "Flying Triangulation" scanning, uas nws scanning thiab 3D reconstruction txheej txheem qhia nyob rau hauv daim duab hauv qab no. Multi-kab projection thiab ib zaug-flash imaging ua rau pom 3D tsis tshua pom. Ob peb ntu ntawm 3D views yog tsim los ntawm longitudinal thiab transverse fringe projection scanning, thiab tom qab ntawd ib qho kev daws teeb meem siab, ua kom tiav, thiab ntom ntom 3D qauv tsim los ntawm 3D duab sau npe.
Chromatic confocal microscopy zoo nkaus li muaj peev xwm luam theej duab thiab ntsuas cov khoom ntxhib thiab du opaque thiab pob tshab, xws li cov nplaim hluav taws xob thiab cov iav pob tshab, thiab tam sim no tau siv dav hauv thaj chaw xws li 3D tshuaj xyuas ntawm cov xov tooj ntawm tes. Chromatic confocal scanning muaj peb hom: ib zaug - taw tes ib -dimensional absolute nrug ntsuas ntsuas, multi-point array scanning, thiab nruam kab scanning. Daim duab hauv qab no qhia cov piv txwv ntawm kev ntsuas qhov deb thiab kev ntsuas kab txuas ntxiv. Nruam kab scanning kuj yog ib hom array scanning, tab sis nrog ib tug loj thiab denser array ntawm cov ntsiab lus.
Stereo Vision 3D duab
Stereo vision feem ntau yog hais txog kev rov tsim kho 3D qauv lossis cov ntaub ntawv tob ntawm lub hom phiaj los ntawm kev tau txais ob lossis ntau cov duab los ntawm ntau qhov kev xav. Kev nkag siab tob tob tuaj yeem muab faib ua ocular cues thiab binocular cues (binocular disparity). Tam sim no, lub tso suab tsis pom kev 3D tuaj yeem ua tiav los ntawm lub zeem muag monocular, lub zeem muag binocular, ntau- pom kev pom, thiab lub teeb pom kev 3D duab (hluav taws xob qhov muag lossis lub koob yees duab array). Monocular tsis pom kev qhov tob pom cues feem ntau suav nrog: kev pom, qhov sib txawv ntawm qhov ntev, ntau- saib duab, occlusion, duab ntxoov ntxoo, motion parallax, thiab lwm yam.
Hauv kev pom neeg hlau, nws kuj tuaj yeem ua tiav siv daim iav duab thiab lwm yam zoo li -los ntawm -X txoj kev. Binocular vision depth perception visual cues muaj xws li: qhov muag convergence position thiab binocular disparity. Hauv kev pom lub tshuab, ob lub koob yees duab tau siv los ua kom tau txais ob lub ntsiab lus pom ntawm tib lub hom phiaj xwm txheej los ntawm ob qhov kev pom, thiab tom qab ntawd qhov sib txawv ntawm cov ntsiab lus sib thooj hauv ob lub duab pom tau suav kom tau txais cov ntaub ntawv 3D qhov tob ntawm lub hom phiaj scene. Ib tug raug binocular stereo vis dis aus txheej txheem suav nrog cov nram qab no plaub kauj ruam: duab distortion kho, stereo duab khub rectification, duab sau npe, thiab triangulation reprojection disparity daim ntawv qhia kev xam.
Ntau- saib pom kev pom, lossis ntau- saib cov duab tso suab, siv tib lub koob yees duab lossis ntau lub koob yees duab kom tau txais ntau cov duab ntawm tib lub hom phiaj los ntawm ntau qhov kev pom los tsim kho peb - cov ntaub ntawv seem ntawm lub hom phiaj scene.
Ntau- saib lub tso suab duab feem ntau yog siv nyob rau hauv cov xwm txheej hauv qab no: siv ntau lub koob yees duab los ntawm cov kev xav sib txawv kom tau txais ntau cov duab ntawm tib lub hom phiaj, thiab tom qab ntawd siv cov yeeb yam -raws li lub tso suab reconstruction thiab lwm yam algorithms kom tau txais scene qhov tob thiab spatial qauv ntaub ntawv; siv cov qauv-los ntawm-txoj kev (SFM) cov txheej txheem, siv tib lub koob yees duab nrog nws cov kev tsis sib haum xeeb tsis hloov, kom tau txais ntau cov duab los ntawm cov kev xav sib txawv kom rov tsim kho peb - cov ntaub ntawv ntawm qhov chaw ntawm lub hom phiaj. Cov thev naus laus zis no feem ntau yog siv los taug qab ntau cov ntsiab lus tswj hauv lub hom phiaj scene, txuas ntxiv rov qab 3D cov ntaub ntawv ntawm qhov chaw, nrog rau lub koob yees duab lub ntsej muag thiab txoj haujlwm. Lub teeb pom kev zoo sib txawv ntawm lub koob yees duab duab cov qauv. Cov koob yees duab ib txwm ua ib daim duab 2D ncaj qha rau ntawm lub dav hlau pom tom qab lub teeb hla lub lens.
Lub teeb teb lub koob yees duab ntxiv microlens array nyob rau hauv pem hauv ntej ntawm lub dav hlau sensor. Lub teeb teeb meem los ntawm lub ntsiab lo ntsiab muag dhau los ntawm txhua lub microlens dua thiab tau txais los ntawm photosensitive array, yog li tau txais cov ntaub ntawv hais txog kev taw qhia thiab txoj hauj lwm ntawm lub teeb rays. Qhov no tso cai rau cov txiaj ntsig tau ua tiav tom qab, ua tiav qhov "tua thawj zaug, ua kom pom tseeb tom qab" cov nyhuv, thiab ua kom rov qab los ntawm qhov xwm txheej peb - qauv siv cov ntaub ntawv no. Hauv thaj chaw xws li kev muaj tiag virtual thiab qhov muaj tseeb ntxiv, lub teeb pom kev siv thev naus laus zis pab muab kev paub pom tseeb dua thiab ua kom muaj tseeb dua peb - qhov kev nkag siab thiab kev cuam tshuam nrog qhov xwm txheej.
Lub hauv paus ntsiab lus ntawm lub teeb pom kev 3D sib txawv ntawm cov qauv duab ntawm cov koob yees duab CCD thiab CMOS. Cov koob yees duab tsoos duab teeb ncaj qha mus rau lub dav hlau duab tom qab nws dhau los ntawm lub lens, feem ntau tsim cov duab 2D. Lub teeb lub koob yees duab ntxiv cov microlens array nyob rau hauv pem hauv ntej ntawm lub dav hlau sensor, ua rau lub teeb teeb meem los ntawm lub ntsiab lo ntsiab muag kom dhau los ntawm txhua lub microlens dua thiab tau txais los ntawm cov photosensitive array, yog li tau txais cov ntaub ntawv hais txog cov kev taw qhia thiab txoj hauj lwm ntawm lub teeb rays. Qhov no tso cai rau kev tshaj tawm - ua tiav cov txiaj ntsig ntawm kev yees duab, ua tiav "tua thawj zaug, tsom tom qab" cov nyhuv.