Parallel processing of grid-based one-shot structured-light system for online 3D reconstruction of moving objects

Ryusuke Sagawa, Yoshio Matsumoto, Hiroshi Kawasaki, Ryo Furukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a method of parallel processing of one-shot structured-light system to realize online 3D reconstruction of moving objects. The proposed method is based on a projector-camera system that reconstructs a shape from a single image where a static pattern is cast by a projector; such a method is ideal for acquisition of moving objects at a high frame rate. The structured-light pattern is a grid pattern that consists of sinusoidal wave lines of vertical and horizontal directions. Since the intersection points of wave lines are used as feature points and the lines give the connectivity of the intersections, the correspondence between camera image and projected pattern can be found by the energy minimization of the graph. The energy minimization is accomplished by belief propagation. We propose a method to improve the computational time for online 3D reconstruction by GPU-based parallel processing for the steps of the structured-light system. In the experiment, we show the proposed method realizes online 3D reconstruction.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1976-1982
Number of pages7
ISBN (Electronic)9781479973965
DOIs
Publication statusPublished - Apr 20 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
Duration: Dec 5 2014Dec 10 2014

Publication series

Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
CountryIndonesia
CityBali
Period12/5/1412/10/14

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All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Sagawa, R., Matsumoto, Y., Kawasaki, H., & Furukawa, R. (2014). Parallel processing of grid-based one-shot structured-light system for online 3D reconstruction of moving objects. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1976-1982). [7090626] (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090626