诸葛亮

31 Jan. 2007 WSCG 2007, Plzen 1/24

http://gb.chinabroadcast.cn/9223/2006/04/13/109@999395_3.htm

诸葛亮

Zhuge, Liang

(AD 181 – 234)

料事如神

Predict events like god

借东风

Borrow the east wind (for)

Fire attacking at Chibi

31 Jan. 2007 WSCG 2007, Plzen 3/24

诸葛亮

Zhuge, Liang Weather forecast?

Magic to borrow east wind from the sky?

Divination? Estimation and prediction?

Wizard? Meteorologist?

Automated 3D scan multi-view registration based on

rotation estimation

Huaxin Wang, Joris S. M. Vergeest, Yu Song, Tjamme Wiegers CADE, Department Design Engineering,

Faculty Industrial Design Engineering,

Delft University of Technology, The Netherlands

31 Jan. 2007 WSCG 2007, Plzen 5/24

1. Problem Background 2. Theoretical Principle 3. Experiment Results 4. Conclusions

Outline

Virtual Environment Physical product model

A 3D freeform shape design problem

?

31 Jan. 2007 WSCG 2007, Plzen

3D scanning experiment

Object

3D scanner

Computer

Registration of 3D Scan Multi View Slices

31 Jan. 2007 WSCG 2007, Plzen 9/24

1. Problem Background

2. Theoretical Principle

3. Experiment Results

4. Conclusions



(a) (b)

S ₁ z

y

x a ₁

S ₂ z

y

x a ₂ a ₁ S ₀



The consecutive scan and registration of surfaces

TS ₀ = S ₁

31 Jan. 2007 WSCG 2007, Plzen 11/24

事后诸葛亮

A Zhuge Liang

after the event!

 

 



 

1 0

t T R

 







 









33 32

31

23 22

21

13 12

11

r r

r

r r

r

r r

r R

TS ₀ = S ₁

 







 















 

 



   



12 21

31 13

23 32

33 22

11

sin 2

1

2 arccos 1

r r

r r

r r

r r

r



 k

(2a) (1)

(2b)

t = [t _x , t _y , t _z ] ^T

31 Jan. 2007 WSCG 2007, Plzen 13/24

Effective rotation and translation in the registration procedure O (a)

 B A

S

O’ (a’)

 B’ S’

r r’

t C S

c

t

= t

+ t

(4)

O’C = c = ½ |t| /tan(  /2) (kt)/| kt | (3a)

r = c + t/2 (3b)

1. Problem Background

2. Theoretical Principle

3. Experiment Results

4. Conclusions

31 Jan. 2007 WSCG 2007, Plzen 15/24

Verify extraction accuracy

Step Ideal (deg) Extracted (deg)

1 5 5.002890

2 10 10.003064

3 10 10.001035

b) Axis

Step Ideal Extracted

1 (0, 1, 0) (0.000492, 1.000000, -0.000316)

2 (0, 1, 0) (0.000061, 1.000000, -0.000422)

3 (0, 1, 0) (0.001556, 0.999999, -0.000375)

a) Angle

1 2 3 4 5 6 7 8 9 10 4

4.5 5 5.5 6 6.5 7 7.5



i rotation angle averag

e

scan steps

1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8



i axis

angle

avera ge

scan steps

a) Rotation angle and average angle (degree) b) The angle (degree) between the estimated approximate rotation axis and the first axis, and the average

Approximate rotation axes for manual rotation on table

31 Jan. 2007 WSCG 2007, Plzen 17/24

Physical model Scanned views

Automatic global registration without our method

Automatic sequential registration w/o our method Automatic registration with our method

Horizontal rotation axis Vertical

rotation axis

Change of rotation axis to scan the whole surface

θ

i

Change rotation axis

31 Jan. 2007 WSCG 2007, Plzen 19/24

Complete surface registration and rotation axes

0 5 10 15 20 25 30

0 5 10 15 20 25 30 35



without pre- rotation

scan steps after pre- rotation

i

Rotation angle of registration without pre-rotation

(upper line) and after pre-rotation (lower line),

(arrow points to region of rotation axis change)

1. Problem Background

2. Theoretical Principle

3. Experiment Results

4. Conclusions

31 Jan. 2007 WSCG 2007, Plzen 21/24

1. Automatic for more cases

2. No rotation tracking hardware 3. Texture image remained intact

Advantages

1. Difficult for handheld

2. Difficult to insert patch scans 3. Cumulative error

– fix with global registration

Limitations

31 Jan. 2007 WSCG 2007, Plzen 23/24

1. Combined with feature based matching?

2. Criterion for successful registration?

Possible Extensions

 Joris Vergeest, Dr.

Original ideas and research guidance

 Project Funding

Synthetic Environments for Industrial Design, Integrated Product Creation and Realization, Innovation Oriented Research Program,

Ministry of Economic Affairs, The Netherlands

 Reviewers

Valuable comments and suggestions

Acknowledgments

31 Jan. 2007 WSCG 2007, Plzen 25/24

Thank you! Questions please?

Huaxin Wang

huaxin.wang@tudelft.nl

Tel: +31-15-278-9385, Fax: +31-15-278-1839

Room 10-3A-30, CADE, DE, IDE, TU Delft, Landbergstraat 15, 2628CE, Delft,

The Netherlands

31 Jan. 2007 WSCG 2007, Plzen 27/24

Requirements

Market Ideas

Conceptual Design

Detailed Design

Prototyping Internal

Testing Production

External

Testing User

Experiences

 



User Centered Design Process

Current Practice Industrial Design Process

User Involved Domains

Engineer Involved Domains

Marketing Involved Domains

Designer Involved Domains

Integrate d Tools

Synthetic Environment

Users Designe

rs

Engineer s

Managemen ts

Marketin

g

31 Jan. 2007 WSCG 2007, Plzen 29/24

Synthetic Environment

Users Enginee

rs

Designer s

Managemen ts

Marketin g

Communication Medium for Design

Concepts

Project Background

Ministry of Economic Affairs, NL

IOP: Innovation Oriented Research Innovatie gerichte Onderzoeks Programma http://www.senternovem.nl/iop/

IPCR: Integrated Product Creation and Realization Integrale Product Creatie en –Realisatie

Synthetic Environments

INDES

Industrial design service

Researchers

PANAlytical

Industrial instruments R&D

Thales

Security equipments R&D

Industrial Partners

User Committee

University of Twente Faculty of Behavioral Sciences

Dept. of Cognitive Science and Ergonomics

University of Twente

Faculty of Engineering Technology Dept. of Design, Production and Management

Delft University of Technology Faculty of Industrial Design Engineering Dept. of Design Engineering

Computer Aided Design Engineering