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研究生: 洪嘉陽
Chia-Yang Hung
論文名稱: 應用於透明顯示器擴增實境之3D模型優化與姿態辨識技術
3D Model Enhancement and Pose Estimation for Augmented Reality Applications using Transparent Displays
指導教授: 孫沛立
Pei-Li Sun
口試委員: 孫沛立
Pei-Li Sun
林宗翰
Tzung-Han Lin
陳鴻興
Hung-Shing Chen
胡國瑞
Kuo-Jui Hu
學位類別: 碩士
Master
系所名稱: 應用科技學院 - 色彩與照明科技研究所
Graduate Institute of Color and Illumination Technology
論文出版年: 2019
畢業學年度: 107
語文別: 中文
論文頁數: 72
中文關鍵詞: 擴增實境深度圖優化物件辨識姿態估計透明顯示器
外文關鍵詞: Augmented reality, Depth map refinement, Object recognition, Pose estimation, Transparent display
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  • 近年來,資訊產業的蓬勃發展帶動了虛擬實境(Virtual Reality)、擴增實境(Augmented Reality)在生活上的應用。其中擴增實境更用於智慧窗、智慧櫥窗等新應用。利用透明顯示器進行的擴增實境,可呈現動態或靜態、文字或圖像的資訊,為螢幕後方的目標物件加值。但目前加值的資訊多為二維,當附加材質圖於物件或是基於使用者視角轉動模型時,會有缺乏立體感的情況發生,是擴增實境互動應用上的缺陷。
    為了改善此一問題,本論文提出兩套實驗流程應用於透明平面顯示器的擴增實境互動,對於最終呈現的物件提供附有立體感的貼圖加值。實驗一開發一套3D模型優化系統:對於後方物件進行3D建模,並分別透過二維與三維影像處理技術對物件進行優化,將欲呈現的物件進行雜訊去除及破損填補,得到較佳的3D建模結果。實驗二開發一套模型姿態辨識系統:首先對物件進行精確的3D掃描,透過對當前擺放物件進行物件辨識及姿態估計,接著將預先掃描的物件利用估計出的矩陣轉動至當前姿態並呈現於顯示器上,與使用者進行擴增實境互動應用。兩者的實驗結果皆能有效地提供精確3D物件於顯示器進行3D資訊的疊加融合。相較於2D資訊能呈現更好的立體互動效果。


    In recent years, the rapid growing of information industries drive the development of virtual reality (VR) and augmented reality (AR). AR technology can be used in new applications such as smart windows and smart showcase which use transparent displays to add information to behind target objects. However, most of these attached information is in 2D. There is a lack of stereoscopic feeling when material maps are attached to an object or model rotates based on the user’s perspective.
    To improve the 3D feeling, we proposed two pipelines to enhance the quality of 3D model for covering the target objects for user-perspective AR interaction. First pipeline uses a rear depth camera in real-time to do 2D and 3D filtering to remove noise and artifacts and combine multiple views of the depth images to make 3D model more complete. Second pipeline applies a precise scanned 3D model to correct position by means of 3D image recognition and pose estimation. Both pipelines show good results and make the visual experience more natural and comfortable when interact with a transparent display.

    中文摘要 iv ABSTRACT v 致謝 vi 目錄 vii 圖目錄 x 表目錄 xiii 第一章 緒論 1 1.1 研究背景 1 1.2 研究動機與目的 1 1.3 研究範圍與限制 2 1.4 論文架構 2 1.5 發表論文 3 第二章 文獻探討 4 2.1 透明顯示器與擴增實境 4 2.2 立體成像的原理與分類 5 2.2.1 立體成像原理 5 2.2.2 主動式3D感測技術 8 2.2.3 被動式3D感測技術 9 2.3 點雲與點雲函式庫 11 2.4 3D品質優化文獻探討 12 2.4.1 基於二維影像處理優化 12 2.4.2 基於三維點雲優化 14 2.5 物件辨識文獻探討 14 2.5.1 關鍵點 14 2.5.2 基於二維辨識 16 2.5.3 基於三維辨識 16 第三章 3D模型優化系統 20 3.1 研究目的 20 3.2 研究內容 20 3.3 實驗流程 21 3.3.1 獲取深度資訊 21 3.3.2 深度資訊優化 23 3.3.3 轉換至相機世界坐標系 23 3.3.4 背景去除 24 3.3.5 去除點雲雜訊 25 3.3.6 點雲對齊 25 3.3.7 轉換至螢幕世界坐標系 28 3.3.8 輸出至顯示器 29 3.4 實驗結果與討論 30 3.4.1 2D深度圖優化 30 3.4.2 3D點雲優化 31 3.4.3 模擬輸出至顯示器結果 32 3.4.4 實際輸出至顯示器結果 33 3.5 研究小結 34 第四章 3D模型姿態辨識系統 35 4.1 研究目的 35 4.2 研究內容 35 4.3 實驗流程 36 4.3.1 訓練資料庫之物件生成 38 4.3.2 建構物件辨識資料庫 39 4.3.3 構建姿態辨識資料庫 41 4.3.4 物件辨識流程 42 4.3.5 姿態辨識流程 42 4.4 實驗結果與討論 44 4.4.1 辨識準確率 44 4.4.2 關鍵點門檻值 45 4.4.3 視覺詞袋單字數 46 4.4.4 法向量估計參數 48 4.4.5 其他參數設置 50 4.4.6 ICP姿態擬合 52 4.5 實驗小結 54 第五章 結論與建議 55 參考文獻 56

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