Principles of 3D Image Analysis and Synthesis

474 Pages·2002·35.84 MB·English

by  G. Häusler (auth.)

Principles of
30 Image Analysis and Synthesis
THE KLUWER INTERNATIONAL SERIES
IN ENGINEERING AND COMPUTER SCIENCE
PRINCIPLES OF
3D IMAGE ANALYSIS AND SYNTHESIS
EDITED BY
BERND GIROD
Information Systems Laboratory
Stanford University
Stanford, CA, USA
GUNTHER GREINER
Lehrstuhl fur Graphische Datenverarbeitung
Universitat Erlangen-Nurnberg
Erlangen, Germany
HEINRICH NIEMANN
Lehrstuhl fOr Mustererkennung
Universitat Erlangen-Nurnberg
Erlangen, Germany
Springer Science+Business Media, LLC
Library of Congress Cataloging-in-Publication Data
Principles of 3D image analysis and synthesis I edited by Bernd Girod, GUnther Greiner,
Heinrich Niemann.
p. em - (The Kluwer international series in engineering and computer science ;
SECS 556)
Includes bibliographical references and index.
ISBN 978-1-4419-4982-0 ISBN 978-1-4757-3186-6 (eBook)
DOI 10.1007/978-1-4757-3186-6
I. Image processing-digital techniques. 2. Image analysis. I. Girod, Bernd.
II. Greiner, GUnther. III. Niemann, Heinrich. IV. Series.
TA1637.P75 2000
621.36'7-dc21 00-029626
Copyright © 2002 by Springer Science+B usiness Media New York
Originally published by Kluwer Academic Publishers in 2002
All rights reserved. No part of this publication may be reproduced, stored in a retrieval
system or transmitted in any form or by any means, mechanical, photo-copying, recording,
or otherwise, without the prior written permission of the publisher, with the exception of any
material supplied specifically for the purpose of being entered and executed on a computer
system, for exclusive use by the purchaser of the work.
Permissions for books published in Europe: [email protected]
Permissions for books published in the United States of America: [email protected]
Printed on acid-free paper.
Contents
Contributing Authors vii
Preface xi
1. OPTICAL 3D SENSORS
1.1 2D Image Acquisition for 'Perfect' 3D Sensors 2
1.2 3D Sensors-Principles, Potentials and Limitations 5
2. MULTIPLE VIEWS AND IMAGE SEQUENCES 25
2.1 Coordinate Systems and Camera Models 26
2.2 Motion Models 30
2.3 Structure From Multiple Views 38
2.4 Object Tracking in Image Sequences 57
2.5 Illumination Estimation 67
3. RECOGNITION AND INTERPRETATION 79
3.1 Segmentation 80
3.2 Semantic Models 93
3.3 Statistical Models 101
3.4 Object Recognition 108
3.5 Image Understanding 122
3.6 Active Vision 131
4. REPRESENTATION AND PROCESSING OF SURFACE DATA 141
4.1 Polygon Meshes 142
4.2 Feature Extraction and Registration 153
4.3 Discrete Modeling of Point Clouds 166
4.4 Fusion of Discrete Models 175
4.5 Splines 181
4.6 Fitting Free Form Surfaces 192
vi PRINCIPLES OF 3D IMAGE ANALYSIS AND SYNTHESIS
5. REALISTIC RENDERING 203
5.1 Models for Illumination and Reflection 204
5.2 Global Illumination 213
5.3 Texture Models 223
5.4 Image-Based Rendering 232
6. VOLUME VISUALIZATION 243
6.1 Volume Data 244
6.2 Volume Models 245
6.3 Data Acquisition 252
6.4 Visualization of Scalar Volume Data 261
6.5 Visualization of Vector Fields 270
7. ACOUSTIC IMAGING, RENDERING, AND LOCALIZATION 279
7.1 3D Acoustical Imaging 280
7.2 Aurealization 295
7.3 Fusion of Multisensor Data 309
7.4 Object Localization Using Audio and Video Signals 322
8. SELECTED APPLICATIONS 335
8.1 Digitizing 3D Objects for Reverse Engineering and Virtual Reality 336
8.2 Surface Interrogation in Automotive Design 347
8.3 Fluid Dynamics 353
8.4 Diagnosis Support of Patients with Facial Paresis 365
8.5 Surgical Planning 378
8.6 Image Communication 389
References 399
Index 457
Contributing Authors
Michael Breuer
Lehrstuhl fiir Stromungsmechanik, Universitat Erlangen-Ni.irnberg
Swen Campagna
Lehrstuhl fi.ir Graphische Datenverarbeitung, Universitat Erlangen-Ni.irnberg
Katja Daubert
AG 4 Computergraphik, Max-Planck-Institut fi.ir Informatik, Saarbri.icken
Joachim Denzler
Lehrstuhl fi.ir Mustererkennung, Universitat Erlangen-Ni.irnberg
Peter Eisert
Lehrstuhl fiir Nachrichtentechnik, Universitat Erlangen-Ni.irnberg
Thomas Ertl
Visualisierung und Interaktive Systeme, Universitat Stuttgart
Arnd Gebhard
Lehrstuhl fi.ir Mustererkennung, Universitat Erlangen-Ni.irnberg
Bernd Girod
Information Systems Laboratory, Stanford University
Sabine Girod
Department of Functional Restoration, Stanford University School of Medicine
Gunther Greiner
Lehrstuhl fi.ir Graphische Datenverarbeitung, Universitat Erlangen-Ni.irnberg
Peter Hastreiter
Lehrstuhl fi.ir Graphische Datenverarbeitung, Universitat Erlangen-Ni.irnberg
viii PRINCIPLES OF 30 IMAGE ANALYSIS AND SYNTHESIS
Gerd Hausler
Lehrstuhl fi.ir Optik, Universitat Erlangen-Ni.imberg
Wolfgang Heidrich
AG 4 Computergraphik, Max-Pianck-Institut fi.ir Informatik, Saarbri.icken
Benno Heigl
Lehrstuhl fi.ir Mustererkennung, Universitat Erlangen-Ni.imberg
Matthias Hopf
Visualisierung und Interaktive Systeme, Universitat Stuttgart
KaiHormann
Lehrstuhl fi.ir Graphische Datenverarbeitung, Universitat Erlangen-Ni.imberg
Manfred Kaltenbacher
Lehrstuhl fiir Sensorik, Universitat Erlangen-Niimberg
Stefan Karbacher
Lehrstuhl fiir Optik, Universitat Erlangen-Ni.imberg
Xavier Laboureux
Lehrstuhl fi.ir Optik, Universitat Erlangen-Niimberg
Hermann Landes
Lehrstuhl fiir Sensorik, Universitat Erlangen-Niimberg
Reinhard Lerch
Lehrstuhl fiir Sensorik, Universitat Erlangen-Ni.imberg
Marcus Magnor
Lehrstuhl fi.ir Nachrichtentechnik, Universitat Erlangen-Niimberg
Heinrich Niemann
Lehrstuhl fiir Mustererkennung, Universitat Erlangen-Niimberg
Dietrich Paulus
Lehrstuhl fiir Mustererkennung, Universitat Erlangen-Niimberg
Rudolf Rabenstein
Lehrstuhl fi.ir Nachrichtentechnik, Universitat Erlangen-Niimberg
Frank Schafer
Lehrstuhl fiir Stromungsmechanik, Universitat Erlangen-Niimberg
CONTRIBUTING AUTHORS ix
Annette Scheel
AG 4 Computergraphik, Max-Planck-Institut fiir Informatik, Saarbrticken
Hartmut Schirmacher
AG 4 Computergraphik, Max-Planck-Institut ftir Informatik, Saarbrticken
Nikolaus Schon
Lehrstuhl fiir Optik, Universitat Erlangen-Ntimberg
Harald Schonfeld
Lehrstuhl fiir Optik, Universitat Erlangen-Niimberg
Stephan Seeger
Lehrstuhl ftir Optik, Universitat Erlangen-Niimberg
Hans-Peter Seidel
AG 4 Computergraphik, Max-Planck-Institut fiir Informatik, Saarbrticken
Marc Stamminger
AG 4 Computergraphik, Max-Planck-Institut fiir Informatik, Saarbriicken
Eckehard Steinbach
Lehrstuhl fiir Nachrichtentechnik, Universitat Erlangen-Ntimberg
Norbert Strobel
Lehrstuhl fiir Nachrichtentechnik, Universitat Erlangen-Niimberg
Matthias Teschner
Lehrstuhl ftir Nachrichtentechnik, Universitat Erlangen-Niimberg
Christian Teitzel
Lehrstuhl fiir Graphische Datenverarbeitung, Universitat Erlangen-Ntimberg
Lutz Trautmann
Lehrstuhl ftir Nachrichtentechnik, Universitat Erlangen-Ntimberg
Christian Vogelgsang
Lehrstuhl fiir Graphische Datenverarbeitung, Universitat Erlangen-Niimberg
Riidiger Westermann
Visualisierung und Interaktive Systeme, Universitat Stuttgart
Matthias Zobel
Lehrstuhl ftir Mustererkennung, Universitat Erlangen-Niimberg
Preface
Traditionally, say 15 years ago, three-dimensional image analysis (aka computer vi
sion) and three-dimensional image synthesis (aka computer graphics) were separate
fields. Rarely were expert<; working in one area interested in and aware of the advances
in the other field. Over the last decade, this has changed dramatically. Maybe it is
a result of the growing maturity of each of these areas that they are less concerned
with themselves. Vision and graphics communities are today engaged in a mutually
beneficial exchange, learning from each other and coming up with new ideas and tech
niques that build on the state-of-the-art in both fields. Many of us today believe that
we will ultimately have one unified field, that, besides vision and graphics, also might
encompass traditional image processing and image communication, and names such as
'Visual Computing', 'Imaging Sciences', or 'Image Systems Engineering' have been
proposed.
Without doubt, three-dimensional image analysis and synthesis is very much an
application-driven field. The declining cost of processors, memory, and sensors con
tinues to expand the scope of viable applications at a breath-taking speed. New systems
solutions are in reach by combining state-of-the-art techniques from vision and graph
ics. The thorough scientific treatment of the underlying principles, for example, the
limitations of sensors, the reliability, accuracy, and complexity of image processing
algorithms, the fidelity of interactive visualization schemes, or the appropriate math
ematical formulation of the interaction of diverse methods from computer vision and
computer graphics, is the prerequisite for such advanced systems.
This book is the result of a most fruitful collaboration between scientists at the
University of Erlangen-Ntimberg, Germany, that, coming from diverse fields, are
working together propelled by the vision of a unified area of three-dimensional im
age analysis and synthesis. As a formal framework for this collaboration, we set up
the "Graduiertenkolleg Dreidimensionale Bildanalyse und -synthese" (Graduate Re
search Center 3D Image Analysis and Synthesis) initially, which is being supported
by the Deutsche Forschungsgemeinschaft (German Research Foundation) since Jan
uary 1996. The Graduiertenkolleg comprises a program of research and advanced
studies for doctoral students, with special emphasis on problems of 3D image acquisi
tion, computer vision, 3D graphics, and selected applications ranging from medicine to
manufacturing. In January 1998, this program was substantially augmented and broad-