玩转3D视界 —— 3D机器视觉及其应用
| 作者 |
| 刘佩林 等 |
| 丛书名 |
| AI工程师书库 |
| 出版社 |
| 电子工业出版社 |
| ISBN |
| 9787121382581 |
| 简要 |
| 简介 |
| 内容简介书籍计算机书籍 3D 机器视觉是计算机视觉的重要组成部分。本书对3D 机器视觉的基础知识、核心算法及应用进行了系统、全面的介绍，具体包括3D 传感器、3D 数据表示、3D 数据存储与压缩、3D 数据处理、3D 几何测量与建模、3D 物体识别和3D 动作识别等。本书力求理论结合实际，在原理与概念讲解的基础上，辅以简单的应用实例，便于读者深刻地理解各部分的知识点并学以致用。为满足读者自检与思考的需要，书中给出了一些思考题，并列出了主要文献供读者参考。 |
| 目录 |
| 第1 章 引言·············································································································.1 1.1 何为“3D 视界”·······················································································.1 1.2 如何玩转3D 视界······················································································.2 1.3 本书的主要内容·························································································.4 1.3.1 章节内容························································································.4 1.3.2 应用介绍························································································.5 1.4 面向的读者································································································.6 第2 章 3D视界的硬实力与软实力——3D 相机与开发平台·······························.8 2.1 概述············································································································.8 2.2 双目相机··································································································.10 2.2.1 双目相机原理···············································································.10 2.2.2 立体匹配方法···············································································.13 2.3 结构光3D 相机························································································.17 2.3.1 结构光相机原理···········································································.17 2.3.2 结构光的分类···············································································.19 2.3.3 结构光的标定与匹配···································································.21 2.4 ToF 相机···································································································.24 2.4.1 ToF相机的发展历程和分类························································.25 2.4.2 ToF相机原理···············································································.26 2.4.3 ToF的标定与补偿·······································································.32 2.5 三种相机的对比及典型应用···································································.35 2.5.1 三种相机的对比···········································································.35 2.5.2 三种3D 相机的典型应用····························································.37 2.6 DMAPP 开发平台····················································································.42 2.6.1 SmartToF SDK——数据获取与处理···········································.43 2.6.2 DMAPP 架构················································································.47 2.6.3 DMAPP 的特点与优势································································.49 2.7 总结与思考······························································································.49 参考文献···········································································································.50 第3 章 3D数据表示方法·····················································································.51 3.1 概述··········································································································.51 3.2 深度图······································································································.52 3.3 点云··········································································································.55 3.3.1 点云概念介绍···············································································.55 3.3.2 点云数据获取···············································································.56 3.3.3 3D 相机数据与点云的转换·························································.58 3.3.4 点云数据分类及应用···································································.62 3.4 体素··········································································································.64 3.4.1 体素和体数据的概念···································································.64 3.4.2 点云的体素化···············································································.66 3.4.3 体素的应用场景···········································································.67 3.5 三角剖分··································································································.68 3.5.1 三角剖分的概念···········································································.68 3.5.2 Delaunay三角剖分的原理···························································.69 3.5.3 Delaunay三角剖分生成算法·······················································.71 3.5.4 3D 空间下的Delaunay三角剖分算法········································.75 3.6 3D 数据存储格式·····················································································.76 3.6.1 3D 数据存储格式概述·································································.76 3.6.2 3MF文件的格式与特点······························································.81 3.6.3 3MF文件的数据要求··································································.84 3.6.4 3MF文件的生成··········································································.85 3.7 总结与思考······························································································.86 参考文献···········································································································.87 第4 章 3D数据处理·····························································································.88 4.1 概述··········································································································.88 4.2 深度图滤波······························································································.96 4.2.1 空域滤波······················································································.96 4.2.2 时域滤波····················································································.104 4.3 点云滤波器与过滤器·············································································.107 4.3.1 体素滤波器················································································.107 4.3.2 统计过滤器················································································.109 4.3.3 半径过滤器················································································.111 4.3.4 直通过滤器················································································.112 4.4 3D 数据压缩··························································································.113 4.4.1 3D 数据压缩的概念与意义·······················································.113 4.4.2 单帧深度图压缩算法·································································.114 4.4.3 深度视频序列压缩算法·····························································.121 4.4.4 3D 压缩实例···············································································.124 4.5 总结与思考····························································································.131 参考文献·········································································································.132 第5 章 3D几何测量与重建···············································································.133 5.1 概述········································································································.133 5.2 3D 测量··································································································.134 5.2.1 3D 测量简述···············································································.134 5.2.2 3D 测量的主要算法与步骤·······················································.138 5.2.3 实践：盒子尺寸测量·································································.143 5.3 3D 重建··································································································.147 5.3.1 3D 重建综述···············································································.147 5.3.2 3D 重建的主要算法与步骤·······················································.151 5.3.3 实践：木头人重建·····································································.158 5.4 总结与思考····························································································.163 参考文献·········································································································.164 第6 章 3D物体分割与识别···············································································.166 6.1 概述········································································································.166 6.2 目标分割································································································.167 6.2.1 阈值分割····················································································.168 6.2.2 平面检测····················································································.172 6.3 几何形状识别························································································.177 6.3.1 几何不变矩················································································.177 6.3.2 3D 关键点检测···········································································.182 6.4 语义识别································································································.188 6.4.1 基于RGB-D 数据的语义识别···················································.189 6.4.2 基于3D 数据的语义识别··························································.196 6.5 总结与思考····························································································.207 参考文献·········································································································.208 第7 章 3D活体检测与动作识别········································································.210 7.1 概述········································································································.210 7.2 人脸识别································································································.211 7.2.1 人脸识别概述·············································································.211 7.2.2 人脸识别相关方法·····································································.213 7.2.3 人脸识别的实现·········································································.217 7.3 人体骨架识别························································································.224 7.3.1 人体骨架识别概述·····································································.224 7.3.2 人体骨架识别相关方法·····························································.225 7.3.3 人体骨架识别相关数据集·························································.231 7.3.4 实例：人体骨架识别·································································.233 7.4 跌倒检测································································································.242 7.4.1 跌倒检测概述与意义·································································.242 7.4.2 跌倒检测原理分析·····································································.243 7.4.3 实例：跌倒检测算法·································································.246 7.5 手势识别································································································.251 7.5.1 手势识别概述·············································································.252 7.5.2 手势分割····················································································.255 7.5.3 静态手势识别·············································································.260 7.5.4 动态手势识别·············································································.267 7.6 总结与思考····························································································.271 参考文献·········································································································.271 附录 缩略语·········································································································.277 |
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