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3D Sensing for 3D Printing: (because CAD is hard)

3D Sensing for 3D Printing: (because CAD is hard). Nick Armstrong-Crews July 24, 2014. Who am I?. Current: Roboticist , MIT Lincoln Laboratory Focus: 3D perception Past: Carnegie Mellon Robotics Institute Focus: Planning under uncertainty Future: Heuristic Labs Focus: 3D sensors

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3D Sensing for 3D Printing: (because CAD is hard)

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  1. 3D Sensing for 3D Printing:(because CAD is hard) Nick Armstrong-Crews July 24, 2014

  2. Who am I? • Current: Roboticist, MIT Lincoln Laboratory • Focus: 3D perception • Past: Carnegie Mellon Robotics Institute • Focus: Planning under uncertainty • Future: Heuristic Labs • Focus: 3D sensors • Origin (fun fact): Alaska • Focus: None “Nick Armstrong-Crews” - http://www.linkedin.com/in/nickarmstrongcrews

  3. Why 3D Sensing is Important • Theme: CAD is hard; a barrier to 3D printing revolution • Imagination ---(CAD)---> digital model ---(3D printing)---> Reality • Harder than 2D (i.e., photo-realistic painting/sketching) • Aside: 2D sensing sucks • Loss of depth information; loss of absolute dimensions • Simply insufficient to aid creation in a 3D world • Solution: 3D sensing to the rescue! • Caveat: 3D sensing can be noisy • But fixing up a 3D model is easier than creating! “This stuff is really hard. It's hard to learn, hard to use, and mistakes have real consequences. This [is true] of any CAD or modeling software.” “CAD is Hard” - http://sliptonic.com/cad-is-hard/

  4. The “Matter Remixer” “Reality Remixing” - http://bit.ly/MatterRemixerKS

  5. 3D Sensing Techniques • Principles: • Time-of-flight: , • Stereo parallax (triangulation): , • Multi-view stitching (mapping, SLAM): (complicated) • Implementations: • Passive stereo vision: like humans! two cams, rigid mount, sparse and not robust and reliant on background texture • Structure-from-motion: monocular, move camera over time • LIDAR: raster scanning/spinning point detector • Active stereo vision: create own perfectly structured light “Time-of-Flight Camera – An Introduction” - http://www.ti.com/lit/wp/sloa190b/sloa190b.pdf “Triangulation (computer vision)” - http://en.wikipedia.org/wiki/Triangulation_(computer_vision) “Projected Texture Stereo” - http://www.willowgarage.com/sites/default/files/ptext.pdf “Serveo w/ Planar LIDAR” - http://april.eecs.umich.edu/magic/about/

  6. Available Hardware Comparison “LazeeEye: Turn your Smartphone into a 3D Camera” - http://kck.st/1gVCcrB

  7. Useful Resources • Structure-from-Motion • AutoDesk 123D Catch - http://www.123dapp.com/catch • VisualSfM- http://ccwu.me/vsfm • Seene iPhone App - http://seene.co • DIY • DIY Structured Light - http://mesh.brown.edu/byo3d/source.html • DIY Stereo Cams - http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration (any cam pair, but recommend PS4 Eye or dual PS3 Eyes) • Computer-assisted 3D Editing • Meshlab - http://meshlab.sourceforge.net • AutoDeskMeshmixer - http://meshmixer.com

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