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3D photography

3D photography. Marc Pollefeys Fall 2008 http://www.inf.ethz.ch/personal/pomarc/courses/3dphoto/. 3D Photography. Obtaining 3D shape (and appearance) of real-world objects. Motivation. Applications in many different areas A few examples …. Surgery - simulation.

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3D photography

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  1. 3D photography Marc Pollefeys Fall 2008 http://www.inf.ethz.ch/personal/pomarc/courses/3dphoto/

  2. 3D Photography • Obtaining 3D shape (and appearance) of real-world objects

  3. Motivation • Applications in many different areas • A few examples …

  4. Surgery - simulation • simulate results of surgery • allows preoperative planning

  5. Surgery - teaching Capture models of surgery for interactive learning

  6. Clothing • Scan a person, custom-fit clothing

  7. Forensics • Crime scene recording and analysis

  8. Forensics

  9. 3D urban modeling UNC/UKY UrbanScape project

  10. Industrial inspection • Verify specifications • Compare measured model with CAD

  11. Scanning industrial sites as-build 3D model of off-shore oil platform

  12. Robot navigation ESA project our task: Calibration + Terrain modelling + Visualization small tethered rover pan/tilt stereo head

  13. Architecture Survey Stability analysis Plan renovations

  14. Architecture Survey Stability analysis Plan renovations

  15. Cultural heritage Virtual Monticello Allow virtual visits

  16. Cultural heritage Stanford’s Digital Michelangelo Digital archive Art historic studies

  17. Archaeology accuracy ~1/500 from DV video (i.e. 140kb jpegs 576x720)

  18. Archaeology • Record different excavation layers Generate 4D excavation record Layer 2 Layer 1 • Generate & verify construction hypothesis

  19. Computer games

  20. Course objectives • To understand the concepts that allow to recover 3D shape from images • Explore the state of the art in 3D photography • Implement a 3D photography system/algorithm

  21. Material Slides and more http://www.inf.ethz.ch/personal/pomarc/courses/3dphoto/ Also check out on-line “shape-from-video” tutorial: http://www.cs.unc.edu/~marc/tutorial.pdf http://www.cs.unc.edu/~marc/tutorial/ Other interesting stuff: • Book by Hartley & Zisserman, Multiple View Geometry • Peter Allen’s 3D photography class webpage http://www1.cs.columbia.edu/~allen/F07/schedule.html

  22. Learning approach • Lectures: • cover main 3D photography concepts and approaches. • Exercice sessions: • Assignments (1st half semester) • Paper presentations and project updates (2nd half semester) • 3D photography project: • Choose topic, define scope (1st half semster) • Implement algorithm/system (2nd half semester) Grade distribution • Assignments & paper presentation: 50% • Course project: 50%

  23. Content • camera model and calibration • single-view metrology • triangulation • epipolar geometry, stereo and rectification • structured-light, active techniques • feature tracking and matching • structure-from-motion • shape-from-silhouettes • space-carving • …

  24. 3D photography course schedule(tentative)

  25. Fast Forward! • Quick overview of what is coming…

  26. Camera models and geometry Pinhole camera or Geometric transformations in 2D and 3D

  27. Camera Calibration • Know 2D/3D correspondences, compute projection matrix also radial distortion (non-linear)

  28. Single View Metrology

  29. Single View Metrology Antonio Criminisi

  30. Feature tracking and matching Harris corners, KLT features, SIFT features key concepts: invariance of extraction, descriptors to viewpoint, exposure and illumination changes

  31. L2 M? M Triangulation m2 l2 C2 3D from images m1 C1 L1 • calibration • correspondences

  32. Epipolar Geometry Fundamental matrix Essential matrix Also how to robustly compute from images

  33. Stereo and rectification Warp images to simplify epipolar geometry Compute correspondences for all pixels

  34. Structured-light • Projector = camera • Use specific patterns to obtain correspondences

  35. Initialize Motion (P1,P2 compatibel with F) Structure from motion Initialize Structure (minimize reprojection error) Extend motion (compute pose through matches seen in 2 or more previous views) Extend structure (Initialize new structure, refine existing structure)

  36. * * projection constraints Auto-calibration

  37. Shape-from-Silhouette

  38. Space-carving Only keep photo-consistent voxels

  39. Shape-from-X Shape-from-focus Shape-from-texture time-of-flight

  40. 3D modeling and texturing Texture integration Multiple depth images Surface model patchwork texture map

  41. Papers and discussion • Will cover recent state of the art Each student will present a paper, discussion Select paper related to project

  42. Course project: Build your own 3D scanner! Example: Bouguet ICCV’98 Students can work in group or alone

  43. Marc Pollefeys CAB F66 marc.pollefeys@inf.ethz.edu Tel. 044 63 23105 David Gallup CAB F64.2 gallup@cs.unc.edu Tel. 044 23061 3D photography course team

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