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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