gb.chinabroadcast/9223/2006/04/13/109@999395_3.htm

1. 诸葛亮 Zhuge, Liang (AD 181 – 234) 料事如神 Predict events like god WSCG 2007, Plzen http://gb.chinabroadcast.cn/9223/2006/04/13/109@999395_3.htm

2. 借东风 Borrow the east wind (for) 火烧赤壁 Fire attacking at Chibi WSCG 2007, Plzen

3. 诸葛亮Zhuge, Liang Magic to borrow east wind from the sky? Weather forecast? Estimation and prediction? Divination? Meteorologist? Wizard? WSCG 2007, Plzen

4. Automated 3D scan multi-view registration based onrotation estimation Huaxin Wang, Joris S. M. Vergeest, Yu Song, Tjamme Wiegers CADE, Department Design Engineering,Faculty Industrial Design Engineering,Delft University of Technology, The Netherlands WSCG 2007, Plzen

5. Outline • Problem Background • Theoretical Principle • Experiment Results • Conclusions WSCG 2007, Plzen

6. A 3D freeform shape design problem ? Virtual Environment Physical product model WSCG 2007, Plzen

7. 3D scanner Object Computer 3D scanning experiment WSCG 2007, Plzen

8. Registration of 3D Scan Multi View Slices WSCG 2007, Plzen

9. Problem Background • Theoretical Principle • Experiment Results • Conclusions WSCG 2007, Plzen

10. TS0 = S1 z z S0 y y q 2 S1 S2 q1 a1 a1 a2 x x (b) (a) The consecutive scan and registration of surfaces WSCG 2007, Plzen

11. 事后诸葛亮 A Zhuge Liangafter the event! WSCG 2007, Plzen

12. TS0 = S1 t = [tx, ty, tz]T (1) (2a) (2b) WSCG 2007, Plzen

13. B’ S’1 t S1 C q c q B r’ A r S0 O (a) O’ (a’) O’C =c = ½ |t| /tan( /2) (kt)/|kt| (3a) r = c + t/2 (3b) ta = tn+ tt (4) Effective rotation and translation in the registration procedure WSCG 2007, Plzen

14. Problem Background • Theoretical Principle • Experiment Results • Conclusions WSCG 2007, Plzen

15. a) Angle b) Axis Verify extraction accuracy WSCG 2007, Plzen

16. q rotation angle average i scan steps qa axis angle average i scan steps b) The angle (degree) between the estimated approximaterotation axis and the first axis, and the average a) Rotation angle and average angle (degree) Approximate rotation axes for manual rotation on table WSCG 2007, Plzen

17. Scanned views Physical model Automatic registration with our method Automatic global registration without our method Automatic sequential registration w/o our method WSCG 2007, Plzen

18. θ i Change rotation axis Vertical rotation axis Horizontal rotation axis Change of rotation axis to scan the whole surface WSCG 2007, Plzen

19. q without pre-rotation after pre-rotation i scan steps Rotation angle of registration without pre-rotation(upper line) and after pre-rotation (lower line), (arrow points to region of rotation axis change) Complete surface registration and rotation axes WSCG 2007, Plzen

20. Problem Background • Theoretical Principle • Experiment Results • Conclusions WSCG 2007, Plzen

21. Advantages • Automatic for more cases • No rotation tracking hardware • Texture image remained intact WSCG 2007, Plzen

22. Limitations • Difficult for handheld • Difficult to insert patch scans • Cumulative error– fix with global registration WSCG 2007, Plzen

23. Possible Extensions • Combined with feature based matching? • Criterion for successful registration? WSCG 2007, Plzen

24. Acknowledgments • Joris Vergeest, Dr. Original ideas and research guidance • Project Funding Synthetic Environments for Industrial Design,Integrated Product Creation and Realization,Innovation Oriented Research Program,Ministry of Economic Affairs, The Netherlands • Reviewers Valuable comments and suggestions WSCG 2007, Plzen

25. Thank you! Questions please? Huaxin Wang huaxin.wang@tudelft.nl Tel: +31-15-278-9385, Fax: +31-15-278-1839 Room 10-3A-30, CADE, DE, IDE, TU Delft,Landbergstraat 15, 2628CE, Delft,The Netherlands WSCG 2007, Plzen

26. WSCG 2007, Plzen

27. Market  DetailedDesign Requirements Ideas InternalTesting UserExperiences ConceptualDesign Prototyping ExternalTesting  Production  Current Practice Industrial Design Process Marketing Involved Domains User Involved Domains User Centered Design Process Designer Involved Domains Engineer Involved Domains WSCG 2007, Plzen

28. Managements Engineers Marketing Integrated Tools Designers Users Synthetic Environment WSCG 2007, Plzen

29. Managements Marketing Communication Medium for Design Concepts Users Designers Engineers Synthetic Environment WSCG 2007, Plzen

30. Ministry of Economic Affairs, NL IOP: Innovation Oriented ResearchInnovatie gerichte Onderzoeks Programmahttp://www.senternovem.nl/iop/ IPCR: Integrated Product Creation and RealizationIntegrale Product Creatie en –Realisatie Synthetic Environments INDES Industrial design service PANAlytical Industrial instruments R&D User Committee Thales Security equipments R&D Project Background University of TwenteFaculty of Engineering TechnologyDept. of Design, Production and Management Delft University of TechnologyFaculty of Industrial Design EngineeringDept. of Design EngineeringComputer Aided Design Engineering University of TwenteFaculty of Behavioral SciencesDept. of Cognitive Science and Ergonomics Researchers Industrial Partners WSCG 2007, Plzen