3D Laser Lasso

1
3D Laser Lasso

• 3D Model Viewer and Object Selection Using
  Advanced Laser Technologies

2
3D Laser Lasso Description
3
Motivation

• New Human-Computer Interaction
• No mouse or keyboard
• Object selection and recognition
• Building Codes
• Keep up to date
• Save time and money

4
Laser Tracking

• Filter
• Gets frame and draws on it
• Point of max frame difference is laser point
• Only draws at a certain distance away

5
Tracing

• Use Boolean image
• Connect each point to adjacent point
• Know a point inside
• Fill
• Use Queue to expand from every point
• Next Make 3D

6
What is Needed
Camera location, orientation and properties
Video and Laser Tracker
3D Model
Video
7
Make the 3D Faces

• Lets make it 3D
• Array3D class
• Crop
• Remove Outliers
• Smooth
• Down-sample
• Tessellate in grid

8
Results

• Squirrel Ply in MeshLab
• 664 vertices and 1000 faces
• Faces are indices into vertex list

9
Why Calibrate?

• Image does not know where to go
• Calibration
• Connect each 3D model point to a 2D image
  equivalent

10
Intrinsic Parameters

• Images of checkerboard taken
• Calibration toolbox finds camera properties
• Parameters
• Focal Length
• Distortions

11
Extrinsic Parameters

• Parameters
• Rotations (?, F)
• Translations (x, y, z)
• Associate a bunch of 2D points with 3D points
• Can get 2D point for any 3D point

12
Calibration Window
13
Mapping

• OpenGL
• Maps like a projector onto a wall
• Stretches image piece onto 3D triangle

14
All Together!
15
Future

• Image and scan object Recognition

16
Biography

• http//fly.cc.fer.hr/unreal/theredbook/
• http//www.vision.caltech.edu/bouguetj/calib_doc/
• http//www.codeguru.com/cpp/g-m/opengl/openfaq/art
  icle.php/c10975/more
• C FAQs
• M. Hoch and G. Fleischmann. Social environment
  Towards an intuitive user interface. 3D Image
  Analysis and Synthesis, 5155160, 1996.
• C. Kirstein. A System for Human-Computer
  Interaction with a Projection Screen Using a
  Camera-tracked Laser Pointer. Technical Report
  686, Informatik VII, Univ. of Dortmund, 1998.