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MIT Electrical Engineering and Computer Science
EECS Event |
Thursday, March 15, 2001
4:15 PM (refreshments 4:00)
Room NE43-518
EECS Special Seminar
Abstract
The digitization of the 3D shape of real objects is a rapidly expanding field, with applications in entertainment, design, and manufacturing. In order for 3D scanning to become more commonplace, methods are needed for quickly and robustly generating full geometric models of complex objects. I will describe a scanning system that allows a user to rotate an object by hand in front of the scanner and see a continuously-updated model as the object is scanned. This allows the user to see and fill holes in the model, and determine when the object has been completely scanned.
The system consists of: - A new design for a structured-light range scanner that returns the shape of an object, as seen from one viewpoint, at a rate of 60 Hz. The scanner uses an off-the-shelf DLP projector and video camera and, in contrast with previous structured-light methods, allows for moving objects. - An algorithm for continuously aligning new views of the object with previously-acquired data. This is based on a variant of the Iterated Closest Points (ICP) algorithm, but has been optimized for real-time use. - A method for integrating and displaying the partially-complete model as it is being scanned. Data is stored on a discretized 3D voxel grid, and is drawn using point (splat) rendering.