Three-dimensional Modeling of Dynamic Environments Employing Mobile Stereo Vision

人体运动的三维建模是非常重要的，因为它有许多应用领域，如康复，体育，电子游戏制作等。为了进行三维建模，相关的运动通常需要在配备了许多固定摄像机的大型工作室中进行，这就排除了各种运动（例如在户外观察到的运动）的建模。目前还没有一个成熟的模型。这种技术可以模拟在包括户外环境在内的各种地方发生的运动。在这种情况下，本研究旨在实现以下目标：(1)开发一种基于两台以上移动相机的三维形状/运动恢复技术，该技术可以在移动中捕获图像。(2)开发一种利用图像传输设备发送图像的远程动态环境的三维建模技术。我们开发了一种基于移动相机图像捕捉的三维物体建模技术。首先，我们建立了一种基于获取的视频图像提取二维静态特征点的摄像机标定方法。然后，我们开发了一种计算有关物体上点的三维位置的方法，以便对物体的形状/运动进行建模。在简洁的步骤中，采用上述技术，我们开发了一个用于远程动态环境建模的系统，该系统的图像由移动相机捕获并通过图像传输设备发送。实验结果令人满意。

Three-dimensional modeling of human motions is important, since it has many application fields such as rehabilitation, sports, video game production, etc. In order to perform three-dimensional modeling, the motion concerned normally needs to be acted in a large studio equipped with a number of settled cameras This excludes various motions (motions observed outdoors, for example) from being modeled, however. There hasn't been an established modeling. technique that can model those motions which are acted in various places including outdoor environments.In this situation, the present research aims at achieving the followings :(1)To develop a three-dimensional shape/motion recovery technique based on more than two mobile cameras that capture images while moving.(2)To develop a technique for three-dimensional modeling of a remote dynamic environment where people have various actions by sending the images using an image transfer apparatus.We have developed a technique for modeling a three-dimensional object based on image capture by mobile cameras. In the first place, we habe established a method of camera calibration using two-dimensional static feature points extracted on the obtained video images. Then we have developed a method of computing three-dimensional positions of the points on an object concerned in order to model shape/motion of the object.In the neat step, employing the above technique, we have developed a system for modeling a remote dynamic environment whose images are captured by mobile cameras and sent by image transfer apparatus. Performed experiments gave satisfactory results.