Kuroda, Kazuhiro
DEVELOPMENT OF REAL TIME 3D MEASUREMENT SYSTEM AND SYNTHESIS OF RANGE
IMAGES WITH VIDEO IMAGES
Kazuhiro KURODA, Takeo MIYASAKA, Makoto HIROSE and Kazuo ARAKI
School of Computer and Cognitive Sciences, Chukyo University, Toyota, Japan
araki@sccs.chukyo-u.ac.jp
KEY WORDS: Range images,3D Measurement,3D CG Animation
ABSTRACT
We have developed a new type of 3D measurement system which enabled us to obtain successive 3D range data at video
rate with an error within +0.3%
In this paper, we try to reconstruct realistic colored 3D surface model and 3D animation of the moving target from range
images obtained by our 3D measurement system. At first, although we used ordinal CG techniques such as smoothing,
shading, mapping and so on, the result is not sufficiently good. So, in this paper, we try to synthesize video images with
range images obtained by our system. To this aim, a video camera is fixed on our 3D measurement system and takes video
images synchronizing with 3D measurement by our system. The measured 3D points are mapped onto the respective
video images by means of the coordinate system transformation from coordinate system of 3D measurement system to
that of video camera and perspective transformation. Then, color, brightness and so on of the corresponding pixel are
attributed to the mapped measured 3D point. Finally, the realistic colored 3D image and animation are reconstructed
through the texture mapping technique.
1 INTRODUCTION
Recently, computer graphics(CG) is used in not only movie and TV commercial but also field of digital arts and so on and
has been widely applied for expression technique of information. But it is hard to deal with CG, because it requires much
effort to input the 3D data by manual, and we needs expertise yet on making CG.
While, there is strong interest in obtaining 3D data at real time for the purpose of application of computer vision, engi-
neering, medicine, apparel design and so on. In such situation, real-time 3D measurement system has greatly improved
and become applicable(Araki et al., 1991)(Araki et al., 1992)(Araki et al., 1995)(Kanade et al., 1991).
In this regard, we developed a high-speed and continuous 3D measurement system which acquires 3D range data succes-
sively at video rates (30 scenes per second). If using this system as input device for 3D information of moving target, it
may be possible to reconstruct realistic 3D CG and animation of existent objects briefly.
From such viewpoint, we have been trying to make realistic 3D CG of existent human face from successive 3D range
images obtained by our system using ordinal CG technique. Although our result is almost satisfactory, there remains
somewhat problem in texture and color(Fujita et al., 1995).
In this paper, we try to reconstruct realistic colored 3D surface model and 3D animation of the target from range images
obtained by our system. To this aim, a video camera is fixed on our system and takes video images, synchronizing with
3D measurement by it. Then, we synthesize thus obtain 3D images and respective video images by coordinate system
transformation and perspective transformation. Finally, the realistic colored 3D image and animation are reconstructed.
2 CONFIGURATION OF SYSTEM
2.1 Outline of High-Speed and Continuous 3D Measurement System
Schematic diagram of our 3D measurement system is illustrated in Figure 1.
It is based on slit-ray projection method. The remarkable feature of it is mainly comes from its image plane constructed
by PSD array which is horizontally non-divided and linear, where as vertically divided in numbers. By the virtue of this
configuration of image plane, the basic datum for 3D measurement are acquired during only one scanning of the slit-ray
at high-speed and continuously. This system makes us possible to obtain the successive 3D range image of 128 x 128
spatial resolution at video rates with an error within +0.3% . Details of our system is available elsewhere(Araki et al.,
1991)(Araki et al., 1992)(Araki et al., 1995).
466 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000.
