玩轉3D視界 —— 3D機器視覺及其應用

劉佩林 等

  • 出版商: 電子工業
  • 出版日期: 2020-02-01
  • 售價: $528
  • 貴賓價: 9.5$502
  • 語言: 簡體中文
  • 頁數: 292
  • ISBN: 712138258X
  • ISBN-13: 9787121382581
  • 相關分類: Computer Vision 電腦視覺
  • 立即出貨 (庫存 < 3)

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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。

目錄大綱

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