Time-of-Flight and Depth Imaging. Sensors, Algorithms, and Applications: Dagstuhl 2012 Seminar on Time-of-Flight Imaging and GCPR 2013 Workshop on Imaging New Modalities PDF
Preview Time-of-Flight and Depth Imaging. Sensors, Algorithms, and Applications: Dagstuhl 2012 Seminar on Time-of-Flight Imaging and GCPR 2013 Workshop on Imaging New Modalities
t Marcin Grzegorzek Christian Theobalt r A - Reinhard Koch Andreas Kolb (Eds.) e h t - f o y -e e v t ar u t SS Time-of-Flight 0 0 and Depth Imaging 2 8 S C N Sensors, Algorithms, and Applications L Dagstuhl 2012 Seminar on Time-of-Flight Imaging and GCPR 2013 Workshop on Imaging New Modalities 123 Lecture Notes in Computer Science 8200 CommencedPublicationin1973 FoundingandFormerSeriesEditors: GerhardGoos,JurisHartmanis,andJanvanLeeuwen EditorialBoard DavidHutchison LancasterUniversity,UK TakeoKanade CarnegieMellonUniversity,Pittsburgh,PA,USA JosefKittler UniversityofSurrey,Guildford,UK JonM.Kleinberg CornellUniversity,Ithaca,NY,USA AlfredKobsa UniversityofCalifornia,Irvine,CA,USA FriedemannMattern ETHZurich,Switzerland JohnC.Mitchell StanfordUniversity,CA,USA MoniNaor WeizmannInstituteofScience,Rehovot,Israel OscarNierstrasz UniversityofBern,Switzerland C.PanduRangan IndianInstituteofTechnology,Madras,India BernhardSteffen TUDortmundUniversity,Germany MadhuSudan MicrosoftResearch,Cambridge,MA,USA DemetriTerzopoulos UniversityofCalifornia,LosAngeles,CA,USA DougTygar UniversityofCalifornia,Berkeley,CA,USA GerhardWeikum MaxPlanckInstituteforInformatics,Saarbruecken,Germany Marcin Grzegorzek Christian Theobalt Reinhard Koch Andreas Kolb (Eds.) Time-of-Flight and Depth Imaging Sensors,Algorithms,andApplications Dagstuhl 2012 Seminar on Time-of-Flight Imaging andGCPR2013WorkshoponImagingNewModalities 1 3 VolumeEditors MarcinGrzegorzek UniversityofSiegen,PatternRecognitionGroup Siegen,Germany E-mail:[email protected] ChristianTheobalt Max-Planck-Institute,Graphics,Vision&VideoGroup Saarbrücken,Germany E-mail:[email protected] ReinhardKoch UniversityofKiel,MultimediaInformationProcessingGroup Kiel,Germany E-mail:[email protected] AndreasKolb UniversityofSiegen,ComputerGraphicsandMultimediaSystemsGroup Siegen,Germany E-mail:[email protected] ISSN0302-9743 e-ISSN1611-3349 ISBN978-3-642-44963-5 e-ISBN978-3-642-44964-2 DOI10.1007/978-3-642-44964-2 SpringerHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2013952935 CRSubjectClassification(1998):I.4,I.5,I.2 LNCSSublibrary:SL6–ImageProcessing,ComputerVision,PatternRecognition, andGraphics ©Springer-VerlagBerlinHeidelberg2013 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation, initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Permissionsforuse maybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecution undertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforanyerrorsor omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothe materialcontainedherein. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface Cameras for 3D depth imaging, using either time-of-flight (ToF) or structured light sensors, have received a lot of attention recently and have matured con- siderably over the last few years. Presently, these techniques make full-range 3D data available at video frame rates, and thus open the path toward a much broader application of 3D vision systems. AseriesofworkshopshavecloselyfollowedthedevelopmentsonToFimaging over the years, like the Dynamic 3D Vision workshops in conjunction with the annual conference of the German Association of Pattern Recognition (DAGM) in 2007 and 2009, as well as the CVPR workshops Time-Flight Camera-Based Computer Vision (TOF-CV) in 2008 and later years. The advent of the Kinect depth sensor in 2010 as a versatile and inexpensive depth imaging device has furtheropenedthefieldfordepth-basedalgorithms.Today,depthimagingwork- shops can be found at every major computer vision conference. As a consequence, a prominent selection of leading researchers in the field of ToF and depth imaging decided to initiate a seminar at Schloss Dagstuhl - Leibniz Center for Informatics, which was successfully held in October 2012. All aspects of ToF depth imaging, from sensors and basic foundations, over algorithmsforlow-levelprocessing,toimportantapplicationsthatexploitdepth imaging,werediscussed.Theresultsofthis workshoparecompiledinthisstate- of-the-art survey series on ToF imaging. Eleven chapters, with an average of 25 pages each and over 700 reference citations in total, convey an excellent overviewover all aspects of ToF foundations, algorithms, and applications. The survey is divided into three parts. “Part I: Foundations of Depth Imaging”, discusses in four contributions the basic working principle, sensor calibration, image enhancement, and the important issue of benchmarking ToF systems. “Part II: Depth Data Processing and Fusion”, deals with advanced data fusion combiningToF,colorandstereosensors,thehandlingofmirrorsurfaces,andthe tracking of deformable scenes. In ”Part III: Human-Centered Depth Imaging”, the importantapplicationareaof human—machineinterfaces using ToFimages is surveyed. Human motion analysis from depth images, gesture interfaces, as wellasfull-bodymotioncaptureisanalyzed.Thissectionconcludeswithasurvey on range imaging in health care. As follow-up on recent activities in the field, a workshop on Imaging New Modalities was held at the German Conference on Pattern Recognition, GCPR 2013, in Saarbru¨cken, Germany. Part IV of this volume comprises the proceed- ings of this workshop. A state-of-the-art report on the Kinect sensor and its applications is followedby two reports on local andglobal ToF motioncompen- sation, picking up a very current aspect closely related to Part I of the survey, and a novel depth capture system using a plenoptic multi-lens multi-focus cam- era sensor. VI Preface We wouldlike to thank all the people who contributedto the workshopsand the proceedings at hand. Special thanks go to the authors, the workshop co- organizers, the sponsors, the supporting organizations, and, last but not least, to the reviewers and members of the ProgramCommittee. August 2013 Marcin Grzegorzek Christian Theobalt Reinhard Koch Andreas Kolb Organization Organizers of the Dagstuhl Seminar on Time-of-Flight Imaging: Algorithms, Sensors, and Applications Christian Theobalt Max Planck Institute, Saarbru¨cken, Germany James Davis University of California, Santa Cruz, USA Bernd Ja¨hne University of Heidelberg, Germany Andreas Kolb University of Siegen, Germany Ramesh Raskar Media Lab, Massachusetts Institute of Technology, USA Reviewers Damien Lefloch University of Siegen, Germany Frank Lenzen University of Heidelberg, Germany Julien Thollot SoftKinetic, Brussels, Belgium Rahul Nair University of Heidelberg, Germany Ilya Reshetouski Inria Bordeaux Sud-Ouest, Bordeaux, France Andreas Jordt University of Kiel, Germany Mao Ye University of Kentucky, Lexington, USA Thomas Helten Max Planck Institute, Saarbru¨cken, Germany Foti Coleca University of Lu¨beck, Germany Sebastian Bauer University of Erlangen-Nuremberg, Germany Organizers of the Workshop on Imaging New Modalities Reinhard Koch University of Kiel, Germany Andreas Kolb University of Siegen, Germany Ivo Ihrke Max Planck Institute, Saarbru¨cken, Germany Elli Angelopoulou University of Erlangen-Nuremberg, Germany Program Committee Amit Agraval MERL, USA Oliver Bimber University of Linz, Austria Oliver Cossairt North Western University, USA Joachim Denzler University of Jena, Germany Jan-Michael Frahm University of North Carolina, USA Bastian Goldluecke University of Heidelberg, Germany Fran¸cois Goudail Institute d’Optique, France Oliver Grau Intel Visual Computing Institute, Germany VIII Organization Jinwei Gu University of Rochester, USA Wolfgang Heidrich University of British Columbia, Canada Sharham Izadi Microsoft, Cambridge UK Bernd Ja¨hne University of Heidelberg, Germany Chandra Kambhamettu University of Delaware, USA Andreas Koschan University of Tennessee, Knoxville, USA Marcus Magnor TU Braunschweig, Germany Thomas Moeslund University of Aalborg, Denmark Lars Olmor Carl Zeiss AG, Germany Antonio Robles-Kelly Australian National University, Australia Jannick Rolland University of Rochester, USA Yoav Schechner Technion, Israel Sabine Su¨sstrunk EPFL, Switzerland Kevin Thompson Synopsys Inc., USA Kiran Varanasi MPI, Germany Peter Yuen Cranfield University, UK Sponsoring Institutions pmd technologies GmbH, Siegen, Germany raytrix GmbH, Kiel, Germany DFG Research Training Group 1564, University of Siegen, Germany Deutsche AG Mustererkennung e.V. Table of Contents Part I: Foundations of Depth Imaging Technical Foundation and Calibration Methods for Time-of-Flight Cameras ........................................................ 3 Damien Lefloch, Rahul Nair, Frank Lenzen, Henrik Scha¨fer, Lee Streeter, Michael J. Cree, Reinhard Koch, and Andreas Kolb Denoising Strategies for Time-of-Flight Data ........................ 25 Frank Lenzen, Kwang In Kim, Henrik Sch¨afer, Rahul Nair, Stephan Meister, Florian Becker, Christoph S. Garbe, and Christian Theobalt Stabilization of 3D Position Measurement ........................... 46 Julien Thollot, Xavier Baele, and Ilse Ravyse Ground Truth for Evaluating Time of Flight Imaging................. 52 Rahul Nair, Stephan Meister, Martin Lambers, Michael Balda, Hannes Hoffmann, Andreas Kolb, Daniel Kondermann, and Bernd Ja¨hne Part II: Depth Data Processing and Fusion Mirrors in Computer Graphics, Computer Vision and Time-of-Flight Imaging ........................................................ 77 Ilya Reshetouski and Ivo Ihrke A Survey on Time-of-Flight Stereo Fusion........................... 105 Rahul Nair, Kai Ruhl, Frank Lenzen, Stephan Meister, Henrik Scha¨fer, Christoph S. Garbe, Martin Eisemann, Marcus Magnor, and Daniel Kondermann Reconstruction of Deformation from Depth and Color Video with Explicit Noise Models ............................................ 128 Andreas Jordt and Reinhard Koch X Table of Contents Part III: Human-Centered Depth Imaging A Survey on Human Motion Analysis from Depth Data............... 149 Mao Ye, Qing Zhang, Liang Wang, Jiejie Zhu, Ruigang Yang, and Juergen Gall Full-Body Human Motion Capture from Monocular Depth Images ..... 188 Thomas Helten, Andreas Baak, Meinard Mu¨ller, and Christian Theobalt Gesture Interfaces with Depth Sensors.............................. 207 Foti Coleca, Thomas Martinetz, and Erhardt Barth Real-Time Range Imaging in Health Care: A Survey.................. 228 Sebastian Bauer, Alexander Seitel, Hannes Hoffmann, Tobias Blum, Jakob Wasza, Michael Balda, Hans-Peter Meinzer, Nassir Navab, Joachim Hornegger, and Lena Maier-Hein Part IV: Proceedings of the Workshop on Imaging New Modalities A State of the Art Report on Kinect Sensor Setups in Computer Vision .......................................................... 257 Kai Berger, Stephan Meister, Rahul Nair, and Daniel Kondermann Real-Time Motion Artifact Compensation for PMD-ToF Images ....... 273 Thomas Hoegg, Damien Lefloch, and Andreas Kolb Real-Time Image Stabilization for ToF Cameras on Mobile Platforms... 289 Benjamin Langmann, Klaus Hartmann, and Otmar Loffeld On the Calibration of Focused Plenoptic Cameras.................... 302 Ole Johannsen, Christian Heinze, Bastian Goldluecke, and Christian Perwaß Author Index.................................................. 319
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