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研究生:湯智堯
研究生(外文):Chih-Yao Tang
論文名稱:基於軌跡之多台攝影機座標校正與其建模分析
論文名稱(外文):Camera Calibration by Using Trajectory and Modeling Analysis
指導教授:黃乾綱黃乾綱引用關係
指導教授(外文):Chien-Kang Huang
口試委員:傅楸善張恆華
口試委員(外文):Chiou-Shann FuhHerng-Hua Chang
口試日期:2015-06-26
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:工程科學及海洋工程學研究所
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2015
畢業學年度:103
語文別:中文
論文頁數:51
中文關鍵詞:體感攝影機座標校正建模
外文關鍵詞:alignmentkinectcalibrationmodeling
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多台深度攝影機的座標對齊校正,在國外有許多座標對齊校正研究已研究出許多種方法,大致上以棋盤格板的校正方式做為基礎,也有利用在空間中放置立體的物體來進行座標的對齊校正,然而在有些限制的環境條件下,深度攝影機所擷取到的影像在分析影像上無法獲得到要進行對齊校正用的物體,導致不利於這些方法的校正。
因此本研究採用基於空間中拋擲的球體,進行拋體軌跡上時間與空間的關係分析,令多台深度攝影機在空間座標中,也能夠確認彼此深度攝影機的相對位置,再基於本研究的多台深度攝影機對齊校正方法,校正多台深度攝影機的座標系統後,蒐集每一台深度攝影機在三維空間中的立體影像,並且利用體素化、統計去除離群點、法向量表面條滑處理等,建立一個在多台深度攝影機的場景中的前景三維模型,最後討論其在建模上的應用與其準確性。


It’s importance on multi-camera coordinate alignment. Much researchers provided lots methods based on chessboard. But in some bad environment, such as weak or bright light situation. It can get wrong calibration result. Because of chessboard cannot analysis in the worst color image, we provide a new way to solve it.
In this master thesis, it provide a terrific method that using a ball and throw it into the air. Our system will analysis the ball’s trajectory in the air on each kinect camera, and alignment each camera’s trajectory. Above method is purposed to align each camera’s coordinate. After camera’s coordinate aligned, we generate a model based on this method, and analysis model’s error.


誌謝 i
中文摘要 ii
ABSTRACT iii
CONTENTS iv
圖目錄 vii
表目錄 ix
Chapter 1 緒論 1
1.1 研究動機 1
1.2 研究目的 2
1.3 研究貢獻 2
1.4 論文架構 4
Chapter 2 文獻探討 5
2.1 Kinect 數學模型 5
2.2 形態學 7
Chapter 3 前期實驗 10
3.1 資料蒐集 10
3.2 資料處理流程 11
3.3 實驗結果 15
Chapter 4 研究方法 17
Chapter 5 多台Kinect影像校正 20
5.1 攝像鏡頭校正 21
5.2 前後景分割 23
5.2.1 深度濾波器 23
5.2.2 噪點頻率遮罩 24
5.2.3 背景模型去除背景 27
5.3 球體軌跡擷取與擬合 28
5.3.1 輪廓偵測與面積 29
5.3.2 軌跡篩選 30
5.3.3 軌跡校正與對齊 32
5.4 實驗結果 35
5.4.1 不同校正方法之比較 35
5.4.2 擺設角度對校正之正確率的影響 38
Chapter 6 體素化建立模型 40
6.1 三維點雲模型 40
6.1.1 體素化(Voxel) 40
6.1.2 基於統計的離群點濾波器 41
6.1.3 基於法向量的平滑處理 42
6.2 體型測量 42
6.2.1 模型切割 43
6.2.2 凸包計算圍長 43
6.2.3 圍長分析與模型切割 44
6.3 實驗結果 45
Chapter 7 結論與未來展望 46
REFERENCE 47


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