本文的研究目標是開發立體視覺系統並搭配雷射標線器來擷取物體表面之雲點資料，同時提出新穎的光學定位方法，以定位立體視覺系統的空間座標，藉此達到小物件的物體表面雲點掃描功能。本研究奠基於立體視覺理論與相機校正理論，以此複合理論的結合實現立體視覺系統，發展可攜式之光學定位雷射掃描，此設備使用兩個1394數位攝影機做為影像來源，以LED標記物做為空間定位之用，搭配雷射標線器可對物體表面進行資料收集，即可取得物體表面之雲點分佈。此掃描器著重於高精度的小範圍掃描，掃描範圍限定於30×30×30 cm3的正方體範圍內，雲點掃描的取得過程必需經過相機校正、影像處理、影像扭正、深度計算、座標轉換，其研究成果適用於逆向工程應用。

The main concept of this study is to develop a portable optical scanner system and obtain the reliable point clouds of the scanned object by using the optical 3D scanners and laser line. To register the fragments of the point clouds in the different time zone, we propose a novel method to locate cameras positions. We use optical markers to fulfill the processes, every fragment belong to point clouds can be merge into one scene. The developed system is based on the principle of stereo vision and camera calibration. This scanner consists of two IEEE 1394 cameras and one laser line projector. The complete procedure for scanning an object has through the operations of camera calibration, image processing, image rectification, and depth calculation. Outcomes of this research prove to be useful and reliable to be used in reverse engineering.

[1] Fang, J. J. and Kuo, T. H., "Modelling of mandibular movement," Computers in Biology and Medicine, Vol.38, No.11, 2008.
[2] 郭泰宏，"發展運動追蹤式咬合分析與正顎手術計畫"，國立成功大學機械工程學系博士論文，2009。
[3] Dhond, U. R. and Aggarwal, J. K., "Structure from stereo-a review," IEEE Transactions on Systems, Man and Cybernetics, Vol.19, No.6, pp.1489-1510, 1989.
[4] Abdel-Aziz, Y. I. and Karara, H. M., "Direct linear transformation into object space coordinates in close-range photogrammetry," in Proceedings of the Symposium on Close-Range Photogrammetry, pp.1-18, 1971.
[5] Yakimovsky, Y. and Cunningham, R., "A system for extracting three-dimensional measurements from a stereo pair of TV cameras," in Computer Graphics and Image Processing, pp.195-210, 1978.
[6] Martins, H. A., Birk, J. R., and Kelley, R. B., "Camera models based on data for two calibration planes," Computer Graphics Image Processing, Vol.17, No.2, pp.173-180, 1981.
[7] Izaguirre, A., Pu, P., and Summers, J., "A new development in camera calibration: calibrating a pair of mobile cameras," The International Journal of Robotics Research, Vol.6, No.3, p.104, 1987.
[8] Tsai, R. Y., "A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses," IEEE Journal of Robotics and Automation, Vol.3, No.4, pp.323-344, 1987.
[9] Lenz, R. K. and Tsai, R. Y., "Techniques for calibration of the scale factor and image center for high accuracy 3D machine vision metrology," in Proceedings of IEEE International Conference on Robotics and Automation, pp.68-75, 1987.
[10] Weng, J., Cohen, P., and Herniou, M., "Camera calibration with distortion models and accuracy evaluation," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.14, No.10, pp.965-980, 1992.
[11] Webster, R. W. and Wei, Y., "" Arnie P." - A Robot Golfing System Using Binocular And A Heuristic Feedback Mechanism.*," in Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2027-2034, 1992.
[12] Huang, T. S. and Netravali, A. N., "Motion and structure from feature correspondences: a review," Proceedings of the IEEE, Vol.82, No.2, pp.252-268, 1994.
[13] Wei, G.-Q. and Ma, S. D., "Implicit and explicit camera calibration: theory and experiments," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.16, No.5, pp.469-480, 1994.
[14] Zhang, Z., "Motion and structure of four points from one motion of a stereo rig with unknown extrinsic parameters," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.17, No.12, pp.1222-1227, 1995.
[15] Zhang, Z., "A Unified Theory of Uncalibrated Stereo for Both Perspective and Affine Cameras," Journal of Mathematical Imaging and Vision, Vol.9, No.3, p.229, 1996.
[16] Zhang, Z., A Flexible New Technique for Camera Calibration, MSR-TR-98-71, 1998.
[17] Zhang, Z., "A flexible new technique for camera calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.22, No.11, pp.1330-1334, 2000.
[18] Salvi, J., Armangue, X., and Batle, J., "A comparative review of camera calibrating methods with accuracy evaluation," The Journal of The Pattern Recognition Society, Vol.35, No.7, pp.1617-1635, 2002.
[19] Luong, Q. T. and Faugeras, O. D., "The Fundamental matrix: theory, algorithms, and stability analysis," International Journal of Computer Vision, Vol.17, No.1, pp.43-75, 1996.
[20] Krebs, B., Sieverding, P., and Korn, B., "A fuzzy ICP algorithm for 3D free-form object recognition," in Proceedings of the 13th International Conference on Pattern Recognition, pp.539-543 vol.1, 1996.
[21] Winkelbach, S., Molkenstruck, S., and Wahl, F. M., "Low-Cost Laser Range Scanner and Fast Surface Registration Approach," DAGM Symposium on Pattern recognition, Vol.4174, No.11, pp.718-728, 2006.
[22] Rocchini, C., Cignoni, P., Montani, C., et al., "A low cost 3D scanner based on structured light," in Eurographics 2001, Germany, p.10, 2001.
[23] Blais, F., "Review of 20 years of range sensor development," Journal of Electronic Imaging, Vol.13, No.1, pp.231-243, 2004.
[24] Please refer to "Zhang's Calibration: Step by Step" web site (http://www.tecgraf.puc-rio.br/~mgattass/calibration/zhang_latex/zhang.pdf), 06/29, 2009.
[25] Zhang, Z., "Determining the Epipolar Geometry and its Uncertainty: A Review," International Journal of Computer Vision, Vol.27, No.2, pp.167-195, 1998.
[26] Please refer to "POLHHEMUS" web site (http://www.fastscan3d.com/), 2009.03.16.
[27] Please refer to "Z CORPORATION" web site (http://www.zcorp.com/en), 2009.03.16.