Camera ring for three-dimensional (3D) surface imaging
The present invention provides methods, systems, and apparatuses for three-dimensional (3D) imaging. The present methods, systems, and apparatuses provide 3D surface imaging using a camera ring configuration. According to one of many possible embodiments, a method for acquiring a three-dimensional (3D) surface image of a 3D object is provided. The method includes the steps of: positioning cameras in a circular array surrounding the 3D object; calibrating the cameras in a coordinate system; acquiring two-dimensional (2D) images with the cameras; extracting silhouettes from the 2D images; and constructing a 3D model of the 3D object based on intersections of the silhouettes.
1 . A method for acquiring a three-dimensional (3D) surface image of a 3D object, the method comprising:
positioning a plurality of cameras in a circular array surrounding the 3D object;
calibrating said plurality of cameras in a coordinate system;
acquiring a plurality of two-dimensional (2D) images with said plurality of cameras;
extracting a plurality silhouettes from said plurality of 2D images; and
constructing a 3D model of the 3D object based on intersections of said silhouettes.
2 . The method of claim 1 , further comprising refining said 3D model using a stereoscopic technique.
3 . The method of claim 2 , wherein said step of refining includes combining silhouette modeling and stereoscopic modeling algorithms to produce an improved 3D model.
4 . The method of claim 2 , wherein said step of refining includes utilizing Epipolar line constraints to reduce processing demands associated with said stereoscopic technique.
5 . The method of claim 1 , wherein said step of constructing includes choosing a volume representation of the 3D object.
6 . The method of claim 5 , wherein said step of choosing includes implementing a pillar-like volume representation of a cube.
7 . The method of claim 1 , wherein said step of constructing includes generating volume cones associated with each of said plurality of 2D images and intersecting said volume cones in the coordinate system to form said 3D model.
8 . The method of claim 1 , wherein said step of calibrating includes sequentially utilizing stereoscopic imaging capability of adjacent pairs of said plurality of cameras to map each of said plurality of cameras to the coordinate system.
9 . The method of claim 1 , wherein said step of calibrating includes determining a geometric relationship between corresponding points of said plurality of 2D images.
10 . The method of claim 1 , wherein said step of acquiring includes capturing said plurality of 2D images simultaneously.
11 . The method of claim 1 , wherein said step of extracting includes identifying pixels outside of said plurality of silhouettes by using a region growth technique.
12 . The method of claim 1 , wherein said step of extracting includes utilizing a connected component technique to reduce image noise.
13 . The method of claim 1 , further comprising constructing an isosurface model of the surface of the 3D object.
14 . The method of claim 13 , wherein said step of constructing said isosurface model includes utilizing a Marching Cubes technique to identify intersections of voxels with said plurality of silhouettes.
15 . The method of claim 14 , wherein said step of constructing said isosurface model includes producing triangles representative of sections of said isosurface by matching said intersections to a set of predefined intersection patterns.
16 . The method of claim 13 , further comprising relaxing said isosurface by utilizing smoothing and fairing techniques.
17 . The method of claim 1 , further comprising generating a texture map of the 3D object with a 3D reconstruction algorithm.
18 . The method of claim 1 , wherein said step of positioning includes equally spacing said plurality of cameras about said circular array.
19 . A camera ring system for acquiring a three-dimensional (3D) surface image of a 3D object, the system comprising:
a plurality of cameras positioned in a circular array surrounding the 3D object;
a processor communicatively coupled to said plurality of cameras and configured to execute instructions, said instructions being configured to direct said processor to perform the steps of:
calibrating said plurality of cameras in a coordinate system;
acquiring a plurality of two-dimensional (2D) images with said plurality of cameras;
extracting a plurality silhouettes from said plurality of 2D images; and
constructing a 3D model of the 3D object based on intersections of said silhouettes.
20 . The system of claim 19 , wherein said instructions are further configured to direct said processor to perform a step of refining said 3D model using a stereoscopic technique.
21 . The system of claim 20 , wherein said step of refining includes combining silhouette modeling and stereoscopic modeling algorithms to produce an improved 3D model.
22 . The system of claim 20 , wherein said step of refining includes utilizing Epipolar line constraints to reduce processing demands associated with said stereoscopic technique.
23 . The system of claim 19 , wherein said step of constructing includes choosing a volume representation of the 3D object.
24 . The system of claim 23 , wherein said step of choosing includes implementing a pillar-like volume representation of a cube.
25 . The system of claim 19 , wherein said step of constructing includes generating volume cones associated with each of said plurality of 2D images and intersecting said volume cones in the coordinate system to form said 3D model.
26 . The system of claim 19 , wherein said step of calibrating includes sequentially utilizing stereoscopic imaging capability of adjacent pairs of said plurality of cameras to map each of said plurality of cameras to the coordinate system.
27 . The system of claim 19 , wherein said step of calibrating includes determining a geometric relationship between corresponding points of said plurality of 2D images.
28 . The system of claim 19 , wherein said step of acquiring includes capturing said plurality of 2D images simultaneously.
29 . The system of claim 19 , wherein said step of extracting includes identifying pixels outside of said plurality of silhouettes by using a region growth technique.
30 . The system of claim 19 , wherein said step of extracting includes utilizing a connected component technique to reduce image noise.
31 . The system of claim 19 , wherein said instructions are further configured to direct said processor to perform a step of constructing an isosurface model of the surface of the 3D object.
32 . The system of claim 31 , wherein said step of constructing said isosurface model includes utilizing a Marching Cubes technique to identify intersections of voxels with said plurality of silhouettes.
33 . The system of claim 32 , wherein said step of constructing said isosurface model includes producing triangles representative of sections of said isosurface by matching said intersections to a set of predefined intersection patterns.
34 . The system of claim 31 , wherein said instructions are further configured to direct said processor to perform a step of relaxing said isosurface by utilizing smoothing and fairing techniques.
35 . The system of claim 19 , wherein said instructions are further configured to direct said processor to perform a step of generating a texture map of the 3D object with a 3D reconstruction algorithm.
36 . The system of claim 19 , wherein said step of positioning includes equally spacing said plurality of cameras about said circular array.
37 . An apparatus, comprising:
a plurality of cameras positioned about a circular array configured to surround a three-dimensional (3D) object, said cameras being configured to simultaneously capture a plurality of two-dimensional (2D) images from different viewpoints relative to the 3D object.
38 . The apparatus of claim 37 , wherein said plurality of cameras are spaced equally apart about said circular array.
39 . The apparatus of claim 37 , wherein said plurality of cameras are positioned to provide complete 360 degree surface coverage of the 3D object.
40 . The apparatus of claim 37 , wherein said plurality of cameras are positioned within a common plane.