Three-dimensional Reconstruction of Rough Surfaces Using Epipolar Geometry

• Grant number: 11/22402-8
• Support Opportunities: Scholarships in Brazil - Post-Doctoral
• Start date: July 01, 2012
• End date: October 31, 2014
• Field of knowledge: Engineering - Mechanical Engineering - Manufacturing Processes
• Principal Investigator: Marcos de Sales Guerra Tsuzuki
• Grantee: Rogerio Yugo Takimoto
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

The computer vision study objective is to automatically or semi-automatically extract objects useful information to generate 3D models through the use of image processing techniques. This project will recover the three dimensional reconstruction of rough surfaces to understand the interfacial interaction phenomena that can be found in corrosion and tribology (friction, wear and lubrification study). The surface roughness is normally recovered using a surface contact gauge, or laser-based gauges along the line. In the surface contact gauge, the plane contact occurs between the plane highest peak, that doesn't correspond to the peak along the line. To evaluate the real contact between the planes a 3D reconstruction of this rough surface is required and will be achieved using a microscope and a stereo camera. In the 3D reconstruction a microscope and a stereo camera will be used and different techniques will be used for this process: 1. automatic using SIFT, ICP, RANSAC algorithms in the images; 2. automatic pointing a laser on the rough surface and capturing a stereo movie to determine the keypoints; and 3. automatic using a camera calibration, SIFT and ICP. The project scope is the development and test of the above methods, as well as the errors of each method. This project will be developed with the "Laboratório de Fenômenos de Superfície do Departamento de Engenharia Mecânica" of the EPUSP. Once 3D reconstruction is finished, the contact points between surfaces will be recovered. During the postdoctoral (CNPQ scholarship) and the doctorate (japanese government scholarship) the candidate developed some applications that will be useful in this project. The following applications were developed: 1. keypoints determination (SIFT); 2. keypoints mapping (ICP); 3. epipolar geometry recovery using 7 points matches method; 4. epipolar geometry validation (improved RANSAC) using the topology preservation of the object; and 5. 3D points coordinate recovery.

Scientific publications

(4)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

TAKIMOTO, ROGERIO YUGO; GUERRA TSUZUKI, MARCOS DE SALES; VOGELAAR, RENATO; MARTINS, THIAGO DE CASTRO; SATO, ANDRE KUBAGAWA; IWAO, YUMA; GOTOH, TOSHIYUKI; KAGEI, SEIICHIRO. 3D reconstruction and multiple point cloud registration using a low precision RGB-D sensor. MECHATRONICS, v. 35, p. 11-22, MAY 2016. (11/22402-8)

TAKIMOTO, ROGERIO Y.; TSUZUKI, MARCOS S. G.; VOGELAAR, RENATO; MARTINS, THIAGO C.; IWAO, YUMA; GOTOH, TOSHIYUKI; KAGEI, SEIICHIRO; GALLO, GIULLIANO B.; GARCIA, MARCOS A. A.; TIBA, HAMILTON; et al. Shape Reconstruction from Multiple RGB-D Point Cloud Registration. 2014 12TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), v. N/A, p. 2-pg., 2014-01-01. (11/22402-8)

MARTINS, THIAGO C.; TSUZUKI, MARCOS S. G.; TAKIMOTO, ROGERIO Y.; BARARI, AHMAD; GALLO, GIULLIANO B.; GARCIA, MARCOS A. A.; TIBA, HAMILTON; IEEE. Algorithmic Iterative Sampling in Coordinate Metrology Plan for Coordinate Metrology Using Dynamic Uncertainty Analysis. 2014 12TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), v. N/A, p. 2-pg., 2014-01-01. (11/22402-8, 12/51219-0)

SILVA FILHO, JOAO BATISTA M.; TSUZUKI, MARCOS S. G.; UEDA, EDSON K.; MARTINS, THIAGO C.; TAKIMOTO, ROGERIO Y.; GALLO, GIULLIANO B.; GARCIA, MARCO A. A.; TIBA, HAMILTON; IEEE. Mesh Generation for Surfaces with Distinct Boundary Segmentation. 2014 12TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), v. N/A, p. 2-pg., 2014-01-01. (11/22402-8)