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A Survey on 3D Cameras: Metrological Comparison of Time-of-Flight, Structured-Light and Active Stereoscopy Technologies
von: Silvio Giancola, Matteo Valenti, Remo Sala
Springer-Verlag, 2018
ISBN: 9783319917610 , 96 Seiten
Format: PDF, Online Lesen
Kopierschutz: Wasserzeichen
Preis: 69,54 EUR
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A Survey on 3D Cameras: Metrological Comparison of Time-of-Flight, Structured-Light and Active Stereoscopy Technologies
Preface
6
Contents
8
Acronyms
10
1 Introduction
11
2 3D Shape Acquisition
14
2.1 Camera Model
14
2.1.1 Linear Camera Model
15
2.1.2 Non-linear Camera Model
19
2.2 Depth by Triangulation
21
2.2.1 Stereoscopy
21
2.2.2 Epipolar Geometry
23
2.2.3 Dense Stereoscopy
25
2.2.4 Active Stereoscopy
25
2.2.5 Structured-Light
27
2.3 Depth by Time-of-Flight
29
2.3.1 Time-of-Flight Signal
29
2.3.2 Time-of-Flight Cameras
35
2.4 From Depth Map to Point Cloud
35
3 State-of-the-Art Devices Comparison
38
3.1 PMD Technologies
38
3.2 MESA Imaging
38
3.3 PrimeSense
39
3.4 Microsoft Kinect
40
3.5 Texas Instrument OPT8140
42
3.6 Google Tango™
43
3.7 Orbbec
44
3.8 Intel RealSense™
44
3.9 StereoLabs ZED™: Passive Stereo
46
3.10 Discussion
47
4 Metrological Qualification of the Kinect V2™ Time-of-Flight Camera
49
4.1 Time-of-Flight Modulated Signal
49
4.2 Temperature and Stability
52
4.3 Pixel-Wise Characterization
54
4.3.1 Setup
55
4.3.2 Random Component of the Uncertainty in Space
55
4.3.3 Bias Component of the Uncertainty in Space
57
4.3.4 Error Due to the Incidence Angle on the Target
58
4.3.5 Error Due to the Target Characteristics
59
4.3.5.1 Focus on Color
60
4.3.5.2 Focus on Material
60
4.3.5.3 Reflectivity
61
4.4 Sensor-Wise Characterization
62
4.4.1 Known Geometry Reconstructions
62
4.4.1.1 Plane
62
4.4.1.2 Cylinder
63
4.4.1.3 Sphere
64
4.4.2 Mixed Pixels Error
64
4.4.3 Multiple Path Error
65
4.5 Conclusion
68
5 Metrological Qualification of the Orbbec Astra S™ Structured-Light Camera
69
5.1 Preliminary Experiments
69
5.2 Random Error Component Estimation
72
5.3 Systematic Error Component Estimation
74
5.4 Shape Reconstruction
75
5.4.1 Sphere
75
5.4.2 Cylinder
75
5.4.2.1 Concave Corner Shape
76
5.5 Conclusion
77
6 Metrological Qualification of the Intel D400™ Active Stereoscopy Cameras
78
6.1 Preliminary Experiments
78
6.2 Pixel-Wise Characterization
82
6.2.1 Random Component of the Uncertainty in Space
83
6.2.2 Bias Component of the Uncertainty in Space
84
6.2.3 Uncertainty Due to the Orientated Surfaces
86
6.3 Sensor-Wise Characterization
88
6.3.1 Plane Reconstruction
88
6.3.2 Cylinder Reconstruction
88
6.3.3 Sphere Reconstruction
89
6.3.4 Mixed Pixels Error
89
6.4 Conclusion
90
7 Conclusion
93
References
95