臺灣博碩士論文加值系統

本論文將以USB攝影機及雷射光等，實際設計一個3D掃描器雛形系統。其中攝影機外部的世界座標系統與內部影像座標系統轉換關係以相機模型表示之，未知的相機內部參數與外部參數由相機校正技術取得，而雷射光所突顯出的物體輪廓線三維座標則進一步以三角量測理論計算測得。所需的系統軟體將採用MATLAB，機構組件則為LEGO NXT，掃描結果除於電腦銀幕立體顯示外，更將以標準的asc檔案格式輸出該3D模型，以利後續Meshlab做進階處理。最後，實際掃描真實球體十次，可得平均精密度約為1.31%，應屬可接受之結果！

In this thesis, we will create a prototype of 3D laser scanner. The corresponding conversion of the camera outside world coordinate system and the internal image coordinate system is represented by the camera model. The model’s unknown internal and external parameters are obtained by camera calibration technology. The 3D coordinates of the object contours highlighted by laser are measured by triangulation. The programming language is MATLAB, and the mechanism planform is LEGO NXT. The scan results of 3D model will not only be displayed in computer monitor but also can be exported to a standard .asc file format. When scanning a ball ten times, the mean average precision is about 1.31%. This precision shows our 3D scanner is a successful design.

致謝 I
中文摘要 II
Abstract III
目錄 IV
圖目錄 VII
表目錄 IX
第一章 緒論1
1.1 前言 1
1.2 技術與文獻回顧 1
1.3 論文架構 3
第二章 相機模型 4
2.1 世界座標 4
2.2 相機座標 5
2.3 圖像座標 6
2.4 相機參數 6
2.5 座標轉換 7
2.5.1 世界座標至相機座標之座標轉換 8
2.5.2 相機座標至圖像座標之座標轉換 9
第三章 三角測量理論 11
3.1 距離量測 11
3.2 高度量測 12
第四章 輪廓線影像處理與點座標尋找 15
4.1 輪廓線影像處理 15
4.2 輪廓線座標尋找 19
第五章 建置3D雷射掃描器系統 21
5.1 系統硬體設計 21
5.1.1 步驟一：系統硬體 21
5.1.2 步驟二：相機校正 22
5.1.3 步驟三：光軸中心對齊圓盤中心 24
5.1.4 步驟四：取得距離D_x 26
5.1.5 步驟五：取得夾角β 26
5.1.6 系統硬體設計數據 27
5.2 自動化掃描程式設計 27
第六章 結果與分析 29
6.1 系統效能分析 29
6.2 實驗結果 31
第七章 結論與未來展望 37
7.1 結論 37
7.2 未來展望 37
參考文獻 38

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