Kakiuchi, Tsutomu
CONSTRUCTION OF STEREO VISION SYSTEM FOR 3D OBJECTS MODELING
Tsutomu KAKIUCHI*, Hirofumi CHIKATSU**
* AERO ASAHI CORPORATION
Minamidai 3-1-1,Kawagoe, Saitama, 350-1165, Japan
kaki@g.dendai.ac jp
** Professor, Department of Civil Engineering
Tokyo Denki University
Hatoyama, Saitama, 350-0394, JAPAN
chikatsu@g dendai.ac.jp
Commission V, Working Group V/3
KEY WORDS: Video Theodolite, Stereo Adapter, Camera Calibration, Stereo Image Sequence. 3D Modeling.
ABSTRACT
Recently, spatial data acquisition for virtual environment applications, 3D objects modeling, 3D-GIS and so on have
been extensively carrying out using laser-range finder or photogrammetric method. However, there are some issues for
rapid reconstruction of objects and visualization of 3D special data. These problems include texture mapping in the case
of laser-range finder and camera calibration aspects in photogrammetry. In order to resolve the twin issues, a stereo
vision system which a stereo adapter was fitted to a lens of a CCD camera of a video theodolite was constructed so that
Stereo image can be acquired with one CCD camera. The most remarkable points for this stereo vision system are
follows;
1) Camera calibration can be performed with one control point since the camera rotation parameters and the
synchronized stereo image Sequences can be acquired simultaneously.
2) Stereo image can be acquired with one CCD camera since right and left image are taken as the odd field and even
field by a liquid crystal shutter.
À test was performed in the laboratory using a stereo vision system, and system evaluation for 3D object modeling was
investigated.
1 INTRODUCTION
The authors have been concentrating on developing a video theodolite system consisting of a CCD camera, a theodolite
and a video recorder where the camera rotation parameters can be determined in reaktime while recording a moving
object. The current values of the rotation parameters are continuously superimposed on image frames and thus recorded
as a part of the image data (Chikatsu and et al., 1994). The effectiveness of the video theodolite system for dynamic
analysis of human motion has been demonstrated (Chikatsu and Murai, 1995, Chikatsu and et al, 1996). The
application of the video theodolite system to the ski jump also has been demonstrated (Chikatsu and et al., 1997), The
application of the video theodolite system to auto-tracking and real-time positioning for a moving object (Kakiuchi and
Chikatsu, 1998) and automated panoramic imaging using video theodolite also has been demonstrated (Nakano and
Chikatsu, 1999).
The most remarkable points of the video theodolite system are its ability to obtain the camera rotation parameters and to
calculate the object position in real-time.
In order to investigate innovative application fields, e.g. virtual environment applications, 3D objects modeling, 3D-GIS
and so on, the authors constructed the stereo vision system based on the video theodolite system fitting a stereo adapter
to a lens of a CCD camera ofthe video theodolite. Fitting a stereo adapter, 3D data for wide area can be obtained by the
stereo matching because the camera rotation parameters and the synchronized stereo image sequences can be acquired.
Furthermore, textures for object are simultaneously taken.
With these circumstances, in order to evaluate the stereo vision system, pre-experiment for the accuracy of 3D
measurement of this system was demonstrated. Furthermore, indoor experiment for reconstructing and 3D modeling for
indoor space in the Tokyo Denki University was demonstrated.
This paper describes the details of system architecture, pre -experiment results and 3D object modeling for indoor space
using a stereo vision system.
414 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000.
