Koninckx Thomas P, Van Gool Luc
Katholieke Universiteit Leuven, ESAT-PSI, Belgium.
IEEE Trans Pattern Anal Mach Intell. 2006 Mar;28(3):432-45. doi: 10.1109/TPAMI.2006.62.
The goal of this paper is to provide a "self-adaptive" system for real-time range acquisition. Reconstructions are based on a single frame structured light illumination. Instead of using generic, static coding that is supposed to work under all circumstances, system adaptation is proposed. This occurs on-the-fly and renders the system more robust against instant scene variability and creates suitable patterns at startup. A continuous trade-off between speed and quality is made. A weighted combination of different coding cues--based upon pattern color, geometry, and tracking--yields a robust way to solve the correspondence problem. The individual coding cues are automatically adapted within a considered family of patterns. The weights to combine them are based on the average consistency with the result within a small time-window. The integration itself is done by reformulating the problem as a graph cut. Also, the camera-projector configuration is taken into account for generating the projection patterns. The correctness of the range maps is not guaranteed, but an estimation of the uncertainty is provided for each part of the reconstruction. Our prototype is implemented using unmodified consumer hardware only and, therefore, is cheap. Frame rates vary between 10 and 25 fps, dependent on scene complexity.
本文的目标是提供一种用于实时距离采集的“自适应”系统。重建基于单帧结构光照明。该系统并非采用在所有情况下都应有效的通用静态编码，而是提出了系统自适应。这是在运行过程中进行的，使系统对即时场景变化更具鲁棒性，并在启动时创建合适的图案。在速度和质量之间进行持续权衡。基于图案颜色、几何形状和跟踪的不同编码线索的加权组合，产生了一种解决对应问题的鲁棒方法。各个编码线索在一个考虑的图案族内自动调整。组合它们的权重基于在一个小时间窗口内与结果的平均一致性。积分本身通过将问题重新表述为图割来完成。此外，在生成投影图案时会考虑相机 - 投影仪配置。距离图的正确性无法保证，但会为重建的每个部分提供不确定性估计。我们的原型仅使用未修改的消费级硬件实现，因此成本低廉。帧率根据场景复杂度在10到25帧每秒之间变化。
