玩轉3D視界 —— 3D機器視覺及其應用

3D 機器視覺是電腦視覺的重要組成部分。本書對3D 機器視覺的基礎知識、核心算法及應用進行了系統、全面的介紹，具體包括3D 傳感器、3D 數據表示、3D 數據存儲與壓縮、3D 數據處理、3D 幾何測量與建模、3D 物體識別和3D 動作識別等。本書力求理論結合實際，在原理與概念講解的基礎上，輔以簡單的應用實例，便於讀者深刻地理解各部分的知識點並學以致用。為滿足讀者自檢與思考的需要，書中給出了一些思考題，並列出了主要文獻供讀者參考。

第1 章 引言·············································································································.1
1.1 何為“3D 視界”·······················································································.1
1.2 如何玩轉3D 視界······················································································.2
1.3 本書的主要內容·························································································.4
1.3.1 章節內容························································································.4
1.3.2 應用介紹························································································.5
1.4 面向的讀者································································································.6
第2 章 3D視界的硬實力與軟實力——3D 相機與開發平臺·······························.8
2.1 概述············································································································.8
2.2 雙目相機··································································································.10
2.2.1 雙目相機原理···············································································.10
2.2.2 立體匹配方法···············································································.13
2.3 結構光3D 相機························································································.17
2.3.1 結構光相機原理···········································································.17
2.3.2 結構光的分類···············································································.19
2.3.3 結構光的標定與匹配···································································.21
2.4 ToF 相機···································································································.24
2.4.1 ToF相機的發展歷程和分類························································.25
2.4.2 ToF相機原理···············································································.26
2.4.3 ToF的標定與補償·······································································.32
2.5 三種相機的對比及典型應用···································································.35
2.5.1 三種相機的對比···········································································.35
2.5.2 三種3D 相機的典型應用····························································.37
2.6 DMAPP 開發平臺····················································································.42
2.6.1 SmartToF SDK——數據獲取與處理···········································.43
2.6.2 DMAPP 架構················································································.47
2.6.3 DMAPP 的特點與優勢································································.49
2.7 總結與思考······························································································.49
參考文獻···········································································································.50
第3 章 3D數據表示方法·····················································································.51
3.1 概述··········································································································.51
3.2 深度圖······································································································.52
3.3 點雲··········································································································.55
3.3.1 點雲概念介紹···············································································.55
3.3.2 點雲數據獲取···············································································.56
3.3.3 3D 相機數據與點雲的轉換·························································.58
3.3.4 點雲數據分類及應用···································································.62
3.4 體素··········································································································.64
3.4.1 體素和體數據的概念···································································.64
3.4.2 點雲的體素化···············································································.66
3.4.3 體素的應用場景···········································································.67
3.5 三角剖分··································································································.68
3.5.1 三角剖分的概念···········································································.68
3.5.2 Delaunay三角剖分的原理···························································.69
3.5.3 Delaunay三角剖分生成算法·······················································.71
3.5.4 3D 空間下的Delaunay三角剖分算法········································.75
3.6 3D 數據存儲格式·····················································································.76
3.6.1 3D 數據存儲格式概述·································································.76
3.6.2 3MF文件的格式與特點······························································.81
3.6.3 3MF文件的數據要求··································································.84
3.6.4 3MF文件的生成··········································································.85
3.7 總結與思考······························································································.86
參考文獻···········································································································.87
第4 章 3D數據處理·····························································································.88
4.1 概述··········································································································.88
4.2 深度圖濾波······························································································.96
4.2.1 空域濾波······················································································.96
4.2.2 時域濾波····················································································.104
4.3 點雲濾波器與過濾器·············································································.107
4.3.1 體素濾波器················································································.107
4.3.2 統計過濾器················································································.109
4.3.3 半徑過濾器················································································.111
4.3.4 直通過濾器················································································.112
4.4 3D 數據壓縮··························································································.113
4.4.1 3D 數據壓縮的概念與意義·······················································.113
4.4.2 單幀深度圖壓縮算法·································································.114
4.4.3 深度視頻序列壓縮算法·····························································.121
4.4.4 3D 壓縮實例···············································································.124
4.5 總結與思考····························································································.131
參考文獻·········································································································.132
第5 章 3D幾何測量與重建···············································································.133
5.1 概述········································································································.133
5.2 3D 測量··································································································.134
5.2.1 3D 測量簡述···············································································.134
5.2.2 3D 測量的主要算法與步驟·······················································.138
5.2.3 實踐：盒子尺寸測量·································································.143
5.3 3D 重建··································································································.147
5.3.1 3D 重建綜述···············································································.147
5.3.2 3D 重建的主要算法與步驟·······················································.151
5.3.3 實踐：木頭人重建·····································································.158
5.4 總結與思考····························································································.163
參考文獻·········································································································.164
第6 章 3D物體分割與識別···············································································.166
6.1 概述········································································································.166
6.2 目標分割································································································.167
6.2.1 閾值分割····················································································.168
6.2.2 平面檢測····················································································.172
6.3 幾何形狀識別························································································.177
6.3.1 幾何不變矩················································································.177
6.3.2 3D 關鍵點檢測···········································································.182
6.4 語義識別································································································.188
6.4.1 基於RGB-D 數據的語義識別···················································.189
6.4.2 基於3D 數據的語義識別··························································.196
6.5 總結與思考····························································································.207
參考文獻·········································································································.208
第7 章 3D活體檢測與動作識別········································································.210
7.1 概述········································································································.210
7.2 人臉識別································································································.211
7.2.1 人臉識別概述·············································································.211
7.2.2 人臉識別相關方法·····································································.213
7.2.3 人臉識別的實現·········································································.217
7.3 人體骨架識別························································································.224
7.3.1 人體骨架識別概述·····································································.224
7.3.2 人體骨架識別相關方法·····························································.225
7.3.3 人體骨架識別相關數據集·························································.231
7.3.4 實例：人體骨架識別·································································.233
7.4 跌倒檢測································································································.242
7.4.1 跌倒檢測概述與意義·································································.242
7.4.2 跌倒檢測原理分析·····································································.243
7.4.3 實例：跌倒檢測算法·································································.246
7.5 手勢識別································································································.251
7.5.1 手勢識別概述·············································································.252
7.5.2 手勢分割····················································································.255
7.5.3 靜態手勢識別·············································································.260
7.5.4 動態手勢識別·············································································.267
7.6 總結與思考····························································································.271
參考文獻·········································································································.271
附錄 縮略語·········································································································.277