RI: Small: Low Cost Technologies to Improve the Quality of 3D Scanning

该项目开发了一种新的数学框架、算法和光学设计，以提高线和区域3D扫描仪的分辨率和精度，并最大限度地降低硬件成本。 结合简单的光学设计技术和新颖的数学公式，该项目建立了下一代低成本高分辨率的三维扫描系统的基础上主动照明和三维三角测量。 该项目基于新技术设计、制造和演示原型3D扫描仪。该项目将研究与教育结合起来。由首席研究员定期教授的课程提供必要的数学，软件和实用细节，以设计和构建3D扫描仪，使用现成的低成本半导体激光器，小型LED投影仪和网络摄像头，以及数字几何处理软件。本科生和研究生在这些课程中学习设计和构建基于本项目开发的技术的低成本3D扫描仪。通过显着降低高分辨率3D扫描系统的成本，该项目中开发的技术、软件和方法对计算机视觉、计算机图形学和机器人技术的多种应用产生了重大影响。 该研究基于区间算法研究了一种新的3D光学三角测量的数学公式，其中3D点仅在沿着相机光线的某些边界内确定，并且使用多个测量来收紧这些边界。 该项目引入了“线段云”作为替代的表面表示，并作为一种工具，可视化的测量误差在拟议的框架。 该项目开发了新的变分表面重建方法与线段约束量身定制的线段云。 在新配方的支持下，该项目正在构建：1）新型激光线和结构光超分辨率3D扫描仪，其中投影仪安装在小位移运动平台上; 2）结构光区域3D扫描仪，其中不同的3D图案由固定的非同轴LED幻灯机投影，并且不使用DLP或LCD投影机引擎;以及3）基于体积雕刻的超分辨率3D扫描仪，针对现有的基于线和区域的3D扫描仪进行优化，其中相机和投影仪相对于彼此刚性地安装。 该项目还在开发设计激光线投影仪的技术，使用廉价的光学部件优化光学三角测量，大大减少投影线的厚度，增加景深。该项目开发了新的校准方法和性能指标来评估这些技术。

This project develops a new mathematical framework, algorithms, and optical designs to increase the resolution and precision of line and area 3D scanners, and to minimize the hardware cost. Combining simple optical design techniques and novel mathematical formulations, this project builds the next generation of low cost high resolution 3D scanner systems based on active illumination and 3D triangulation. The project designs, fabricates, and demonstrates prototype 3D scanners based on the new technologies. The project integrates research with education. Courses taught by the principal investigator on a regular basis provide the necessary mathematics, software, and practical details to design and build 3D scanners using off-the-shelf low cost semiconductor lasers, small LED projectors, and web-cams, as well as digital geometry processing software. Undergraduate and graduate students learn in these courses to design and build low cost 3D scanners based on the technologies being developed in this project. By significantly lowering the cost of high resolution 3D scanning systems, the technology, software and methods being developed in this project have significant impact in the multiple applications in computer vision, computer graphics, and robotics. The research studies a new mathematical formulation for 3D optical triangulation based on interval arithmetic, where 3D points are only determined within certain bounds along the camera rays, and multiple measurements are used to tighten these bounds. The project introduces the "Line Segment Cloud" as an alternative surface representation, and as a tool to visualize the measurement errors within the proposed framework. The project develops new variational surface reconstruction methods with line segment constraints tailored to line segment clouds. Enabled by the new formulation, the project is constructing: 1) novel laser line and structured light super-resolution 3D scanners, where the projectors are mounted on small displacement motion platforms; 2) structured light area 3D scanners where the different 3D patterns are projected by fixed non-coaxial LED slide projectors, and neither DLP or LCD projector engines are used; and 3) super-resolution 3D scanners based on volume carving, optimized for existing line and area based 3D scanners, where camera and projector are rigidly mounted with respect to each other. The project is also developing techniques to design laser line projectors optimized for optical triangulation using inexpensive optical components, where the thickness of the projected line is significantly reduced and the depth of field is increased. The project develops new calibration methods and performance metrics to evaluate these technologies.