Depth map and 3d imaging applications algorithms and technologies

Depth Map and 3D Imaging Applications: Algorithms and Technologies Aamir Saeed Malik Universiti Teknologi Petronas, Malaysia Tae-Sun Choi Gwangju Institute of Science and Technology, Korea Humaira Nisar Universiti Tunku Abdul Rahman, Perak, Malaysia Managing Director: Book Production Manager: Development Manager: Development Editor: Acquisitions Editor: Typesetters: Print Coordinator: Cover Design: Lindsay Johnston Sean Woznicki Joel Gamon Michael Killian Erika Carter Mackenzie Snader Jamie Snavely Nick Newcomer Published in the United States of America by Information Science Reference (an imprint of IGI Global) 701 E Chocolate Avenue Hershey PA 17033 Tel: 717-533-8845 Fax: 717-533-8661 E-mail: cust@igi-global.com Web site: http://www.igi-global.com Copyright © 2012 by IGI Global All rights reserved No part of this publication may be reproduced, stored or distributed in any form or by any means, electronic or mechanical, including photocopying, without written permission from the publisher Product or company names used in this set are for identification purposes only Inclusion of the names of the products or companies does not indicate a claim of ownership by IGI Global of the trademark or registered trademark Library of Congress Cataloging-in-Publication Data Depth map and 3D imaging applications: algorithms and technologies / Aamir Saeed Malik, Tae Sun Choi, and Humaira Nisar, editors p cm Summary: “This book present various 3D algorithms developed in the recent years to investigate the application of 3D methods in various domains, including 3D imaging algorithms, 3D shape recovery, stereoscopic vision and autostereoscopic vision, 3D vision for robotic applications, and 3D imaging applications” Provided by publisher Includes bibliographical references and index ISBN 978-1-61350-326-3 (hardcover) ISBN 978-1-61350-327-0 (ebook) ISBN 978-1-61350-328-7 (print & perpetual access) Algorithms Threedimensional imaging I Malik, Aamir Saeed, 1969- II Choi, Tae Sun, 1952III Nisar, Humaira, 1970- IV Title: Depth map and three-D imaging applications QA9.58.D47 2012 621.36’7015181 dc23 2011031955 British Cataloguing in Publication Data A Cataloguing in Publication record for this book is available from the British Library All work contributed to this book is new, previously-unpublished material The views expressed in this book are those of the authors, but not necessarily of the publisher Editorial Advisory Board Fabrice Meriaudeau, University of Bourgogne, France Naeem Azeemi, COMSATS Institute of Information Technology, Pakistan Kishore Pochiraju, Stevens Institute of Technology, USA Martin Reczko, Synaptic Ltd., Greece Iftikhar Ahmad, Nokia, Finland Nidal Kamel, Universiti Teknologi Petronas, Malaysia Umer Zeeshan Ijaz, University of Cambridge, UK Asifullah Khan, Pakistan Institute of Engineering and Applied Sciences, Pakistan List of Reviewers Aamir Saeed Malik, Universiti Teknologi Petronas, Malaysia Abdul Majid, Pakistan Institute of Engineering and Applied Sciences, Pakistan Andreas F Koschan, University of Tennessee, USA Antonios Gasteratos, Democritus University of Thrace, Greece Asifullah Khan, Pakistan Institute of Engineering and Applied Sciences, Pakistan Aurelian Ovidius Trufasu, Politehnica University of Bucharest, Romania Fabrice Meriaudeau, University of Bourgogne, France Fakhreddine Ababsa, University of Evry Val d’Essonne, France Hiroki Takada, University of Fukui, Japan Humaira Nisar, Universiti Tunku Abdul Rahman, Perak, Malaysia Ibrahima Faye, Universiti Teknologi Petronas, Malaysia Iftikhar Ahmad, Nokia, Finland Kishore Pochiraju, Stevens Institute of Technology, USA Mannan Saeed, Gwangju Institute of Science & Technology, Republic of Korea Martin Reczko, Synaptic Ltd., Greece Mercedes Farjas, Universidad Politécnica de Madrid, Spain Muzaffar Dajalov, Yeungnam University, Republic of Korea Naeem Azeemi, COMSATS Institute of Information Technology, Pakistan Nidal Kamel, Universiti Teknologi Petronas, Malaysia Song Zhang, Iowa State University, USA Tae-Seong Kim, Kyung Hee University, Republic of Korea Tae-Sun Choi, Gwangju Institute of Science & Technology, Republic of Korea Umer Zeeshan Ijaz, University of Cambridge, UK Table of Contents Foreword ix Preface xi Acknowledgment xv Chapter Introduction to 3D Imaging Aamir Saeed Malik, Universiti Teknologi Petronas, Malaysia Humaira Nisar, Universiti Tunku Abdul Rahman, Malaysia Section 3D Imaging Methods Chapter Multi-View Stereo Reconstruction Technique 10 Peng Song, Nanyang Technological University, Singapore Xiaojun Wu, Harbin Institute of Technology Shenzhen, China Chapter Forward Projection for Use with Iterative Reconstruction 27 Raja Guedouar, Higher School of Health Sciences and Technics of Monastir, Tunisia Boubaker Zarrad, Higher School of Health Sciences and Technics of Monastir, Tunisia Chapter Algorithms for 3D Map Segment Registration 56 Hao Men, Stevens Institute of Technology, USA Kishore Pochiraju, Stevens Institute of Technology, USA Chapter 3D Shape Compression Using Holoimage 87 Nikolaus Karpinsky, Iowa State University, USA Song Zhang, Iowa State University, USA Chapter Restoration and Enhancement of Digitally Reconstructed Holographic Images 105 Rajeev Srivastava, Banaras Hindu University, India Chapter High-Speed, High-Resolution 3D Imaging Using Projector Defocusing 121 Song Zhang, Iowa State University, USA Yuanzheng Gong, Iowa State University, USA Section Shape From X: Algorithms & Techniques Chapter Three-Dimensional Scene Reconstruction: A Review of Approaches 142 Dimitrios Chrysostomou, Democritus University of Thrace, Greece Antonios Gasteratos, Democritus University of Thrace, Greece Chapter Comparison of Focus Measures under the Influence of Various Factors Effecting their Performance .163 Aamir Saeed Malik, Universiti Teknologi Petronas, Malaysia Chapter 10 Image Focus Measure Based on Energy of High Frequency Components in S-Transform 189 Muhammad Tariq Mahmood, Korea University of Technology and Education, Korea Tae-Sun Choi, Gwangju Institute of Science and Technology, Korea Chapter 11 Combining Focus Measures for Three Dimensional Shape Estimation Using Genetic Programming 209 Muhammad Tariq Mahmood, Korea University of Technology and Education, Korea Tae-Sun Choi, Gwangju Institute of Science and Technology, Korea Chapter 12 “Scanning from Heating” and “Shape from Fluorescence”: Two Non-Conventional Imaging Systems for 3D Digitization of Transparent Objects 229 Fabrice Mériaudeau, Université de Bourgogne, France R Rantoson, Université de Bourgogne, France G Eren, Université de Bourgogne, France L Sanchez-Sécades, Université de Bourgogne, France O Aubreton, Université de Bourgogne, France A Bajard, Université de Bourgogne, France D Fofi, Université de Bourgogne, France I Mohammed, Université de Bourgogne, France O Morel, Université de Bourgogne, France C Stolz, Université de Bourgogne, France F Truchetet, Université de Bourgogne, France Section Stereoscopy & Autostereoscopy Chapter 13 Modular Stereo Vision: Model and Implementation 245 Ng Oon-Ee, Monash University Sunway Campus, Malaysia Velappa Ganapathy, University of Malaya, Malaysia S.G Ponnambalam, Monash University Sunway Campus, Malaysia Chapter 14 Stereoscopic Vision for Off-Road Intelligent Vehicles 268 Francisco Rovira-Más, Polytechnic University of Valencia, Spain Chapter 15 Effectiveness of New Technology to Compose Stereoscopic Movies 286 Hiroki Takada, University of Fukui, Japan Yasuyuki Matsuura, Nagoya University, Japan Masaru Miyao, Nagoya University, Japan Chapter 16 Low-Complexity Stereo Matching and Viewpoint Interpolation in Embedded Consumer Applications 307 Lu Zhang, IMEC, Belgium Ke Zhang, IMEC, Belgium Jiangbo Lu, Advanced Digital Sciences Center, Singapore Tian-Sheuan Chang, National Chiao-Tung University, Taiwan Gauthier Lafruit, IMEC, Belgium Chapter 17 The Use of Watermarking in Stereo Imaging 331 Dinu Coltuc, Valahia University Targoviste, Romania Chapter 18 Introduction to Autostereoscopic Displays 346 Armin Grasnick, Sunny Ocean Studios Pte Ltd., Singapore Chapter 19 Multi-View Autostereoscopic Visualization using Bandwidth-Limited Channels 363 Svitlana Zinger, Eindhoven University of Technology, The Netherlands Yannick Morvan, Philips Healthcare, The Netherlands Daniel Ruijters, Philips Healthcare, The Netherlands Luat Do, Eindhoven University of Technology, The Netherlands Peter H N de With, Eindhoven University of Technology, The Netherlands & Cyclomedia Technology B.V., The Netherlands Section Robotic Vision Chapter 20 3D Scene Capture and Analysis for Intelligent Robotics 380 Ray Jarvis, Monash University, Australia Chapter 21 Stereo Vision Depth Estimation Methods for Robotic Applications 397 Lazaros Nalpantidis, Royal Institute of Technology (KTH), Sweden Antonios Gasteratos, Democritus University of Thrace, Greece Chapter 22 Stereo-Vision-Based Fire Detection and Suppression Robot for Buildings 418 Chao-Ching Ho, National Yunlin University of Science and Technology, Taiwan Section 3D Imaging Applications Chapter 23 3D DMB Player and Its Reliable 3D Services in T-DMB Systems 434 Cheolkon Jung, Xidian University, China Licheng Jiao, Xidian University, China Chapter 24 3D Scanner, State of the Art 451 Francesco Bellocchio, Università degli Studi di Milano, Italy Stefano Ferrari, Università degli Studi di Milano, Italy Chapter 25 3D Imaging for Mapping and Inspection Applications in Outdoor Environments 471 Sreenivas R Sukumar, The University of Tennessee, USA Andreas F Koschan, The University of Tennessee, USA Mongi A Abidi, The University of Tennessee, USA Chapter 26 3D Laser Scanner Techniques: A Novel Application for the Morphological Study of Meteorite Impact Rocks 500 Mercedes Farjas, Universidad Politécnica de Madrid, Spain Jesús Martinez-Frias, NASA Astrobiology Institute, Spain Jose María Hierro, Universidad Politécnica de Madrid, Spain Chapter 27 3D Camera Tracking for Mixed Reality using Multi-Sensors Technology 528 Fakhreddine Ababsa, University of Evry Val d’Essonne, France Iman Maissa Zendjebil, University of Evry Val d’Essonne, France Jean-Yves Didier, University of Evry Val d’Essonne, France Chapter 28 Recovering 3-D Human Body Postures from Depth Maps and Its Application in Human Activity Recognition 540 Nguyen Duc Thang, Kyung Hee University, Korea Md Zia Uddin, Kyung Hee University, Korea Young-Koo Lee, Kyung Hee University, Korea Sungyoung Lee, Kyung Hee University, Korea Tae-Seong Kim, Kyung Hee University, Korea Chapter 29 3D Face Recognition using an Adaptive Non-Uniform Face Mesh 562 Wei Jen Chew, The University of Nottingham, Malaysia Kah Phooi Seng, The University of Nottingham, Malaysia Li-Minn Ang, The University of Nottingham, Malaysia Chapter 30 Subject Independent Facial Expression Recognition from 3D Face Models using Deformation Modeling 574 Ruchir Srivastava, National University of Singapore, Singapore Shuicheng Yan, National University of Singapore, Singapore Terence Sim, National University of Singapore, Singapore Surendra Ranganath, Indian Institute of Technology, Gandhinagar, India Chapter 31 3D Thumbnails for 3D Videos with Depth 596 Yeliz Yigit, Bilkent University, Turkey S Fatih Isler, Bilkent University, Turkey Tolga Capin, Bilkent University, Turkey About the Contributors 609 Index 625 ix Foreword Imaging is as old as human intelligence Indeed, anthropologists identify the point of departure between animal and human at the point where the creature felt the need to create an image The creation of images in prehistoric times was a means of teaching hunting techniques, recording important events, and communicating (Figure1) It is from those elementary images that hieroglyphs evolved and eventually alphabets Imaging has always been part of human culture Its decorative nature was perhaps less important than its role in recording significant events, mainly for impressing the masses for the importance and glory of its rich and powerful patrons In the last 200 years or so, technology-based imaging started to co-exist in parallel with manual imaging, restricting the role of the latter mainly to art Technology based imaging is nowadays very much a major part of our everyday life, through its medical applications, routine surveillance, or entertainment However, imaging has always been haunted by the need to depict a 3D world on a 2D medium This has been a problem that pertains to paintings throughout the millennia: from the ancient Egyptians, who were painting full eyes even when seen sideways, to PiFigure About the Contributors Malik Mallem received a PhD degree in robotics and computer sciences from Paris XII University, in 1990 His research deals with Augmented Reality (AR) applied to robotics and telerobotics at IBISCComplex System Laboratory CNRS FRE 2873, Evry, France Since 1999, he is Professor at Evry University and a head of AR team which is implied in several projects in cooperation with French industries (CEN, ALSTOM, RENAULT) and research laboratories (http://lsc.univ-evry.fr/techno/EVRA/index.html) Jesús Martínez-Frías is Senior Research Scientist at the “Centro de Astrobiologia” (CSIC/INTA), associated to the NASA Astrobiology Institute (NAI), where he was former Director of the Planetary Geology Laboratory In addition, he is Professor “Ad-Honorem” at the Polytechnic University of Madrid, and Founder and Director (CSIC) of the Unit on Spectroscopy, Astrobiology, and Cosmogeochemistry He has been visiting Scientist in the Universities of Leeds, Heidelberg, Toronto, California and Autónoma de México He has published books and more than 200 scientific articles and book chapters, and has given more than 100 invited talks in numerous countries He has been member of high level commissions (e.g UNCSTD (Vice-Chair), ESF-IMPACT, NAI’s Mars Focus Group (Co-Chair)) At present, he is Spain’s coordinator of AGID (Geoethics) and The Planetary Geology, Chair of the IUGS COGE and official Co-I of the NASA-MSL-REMS and ESA-ExoMars-Raman He has received various awards (e.g NASA Group Achievement Award, 2006) Yasuyuki Matsuura is currently a Postdoctoral Fellow at the Graduate School of Information Science, Nagoya University since 2010 He is a guest researcher at the RIKEN (The Institute of Physics and Chemical Research) He received PhD in science from Nagoya City University in 2009 Broadly, his research lies in Medical Engineering (especially, Biological Signal Processing) Applying this theoretical background, he enjoys doing research in Environmental Physiology for preventive medicine His broad research interests are in the development of signal processing algorithms for analysis of biological systems He is currently focusing his studies on computational modeling of electrogastrogram, and on application of non-linear analysis methods to characterize biological signals (Electrocardiogram, Electrogastrogram, etc.) He is a Member of IEEE and the Engineering in Medicine and Biology Society Hao Men is a PhD student in the Department of Mechanical Engineering at Stevens Institute of Technology, Hoboken, NJ, USA He received his B.S degree in Mechanical Engineering from Xi’an Jiaotong University and M.S degree from Beijing University of Technology in China, in 2003 and 2006 respectively His current research interests include robotics for remote and autonomous mapping, algorithms for processing point clouds data for map reconstruction, sensor fusion for accurate dimensional, color, temperature, and other parameters His interests include design of hardware and firmware for embedded systems and related application software development Fabrice Meriaudeau was born in Villeurbanne, France, on March 18, 1971 He received both the master degree in physics at Dijon University, France as well as an Engineering Degree (FIRST) in material sciences in 1994 He also obtained a PhD in image processing at the same university in 1997 He was a postdoc for one year at The Oak Ridge National Laboratory He is currently Professeur des Universités at the Le2i (www.le2i.com), head of the University Center Condorcet and deputy Director of the Le2i (UMR CNRS) His research interests are focused on image processing for artificial vision inspection 617 About the Contributors and particularly on non conventional imaging systems (UV, IR, polarization) He has coordinated an Erasmus Mundus Master in the field of Computer Vision and Robotics from 2006 to 2010 and he is now the Vice President for International Affairs for the University of Burgundy He has authored and co-authored more than 150 international publications and holds three patents He was the Chairman of SPIE’s conference on Machine Vision Application in Industrial Inspection and member of numerous technical committees of international conferences in the area of computer vision Masaru Miyao is currently a Professor at the Graduate School of Information Science, Nagoya University since 2002 He is also a Professor for the Information Engineering Department at School of Engineering, Nagoya University He received his MD from Nagoya University in 1977 and his PhD in medicine from Nagoya University in 1982 Broadly, his research lies in Human-Computer Interaction (HCI) More specifically, he enjoys doing research in ergonomics for 3-D display technology and mobile interaction including Head Mounted Displays (HMDs) His research is focused on building and evaluating systems designed to human vision, especially accommodation and convergence for stereoscopic displays, and presently, studying on how to make comfortable 3-D displays and 3-D movie contents He is a director and an editor of Japanese society for social medicine and councilor of Japanese society for occupational health and Japanese society for hygiene Yannick Morvan received his MS in Electrical Engineering from the Institut Supérieur d’Electronique et du Numérique (ISEN), France in 2003 During his undergraduate studies, he worked, in 2002, at Philips Research on embedded image processing software and, in 2003, at Philips Medical Systems on X-ray image quality enhancement algorithms In 2004, he joined, as a Ph.D candidate, the Video Coding and Architectures research group at the Eindhoven University of Technology, The Netherlands During his Ph.D project, he was involved in a joint project of Philips Research and the Eindhoven University of Technology about the development of a multi-camera video acquisition and compression system for 3-D television In 2006, he co-organized with Philips Research the “IEEE workshop on Content Generation and Coding for 3D-television” His research interests include multi-view coding, 3D reconstruction and image rendering One of his papers on multi-view coding was a Best Paper Finalist at the 2007 Picture Coding Symposium in Lisbon, Portugal In 2008, Yannick Morvan became 3D Imaging Scientist at Philips Healthcare, Best, The Netherlands Lazaros Nalpantidis holds a PhD (2010) from the Department of Production and Management Engineering, Democritus University of Thrace, Greece in the field of robotic vision He holds a BSc degree (2003) in physics and the MSc degree (2005) (with Honors) in electronics engineering from the Aristotle University of Thessaloniki, Greece He has participated in various European, as well as in national research projects He has served as a reviewer and committee for various international conferences and journals and is co-author of 18 scientific papers in various conferences and in international journals His current research interests include vision systems for robotic applications such as depth perception, obstacle avoidance and SLAM He is a member of IEEE and IEEE Robotics and Automation Society Oon-Ee Ng is currently completing his PhD candidature at Monash University Sunway Campus in Malaysia He graduated from Monash University Malaysia with a Bachelor of Engineering (Mecha- 618 About the Contributors tronics) with First Class Honours in 2006 He has been a student member of IEEE for four years His research interests center primarily around stereo vision, with particular emphasis on algorithm development He is also interested in computer algorithms in general and how they are applied to theoretical and practical problems Maria Petrou studied Physics at the Aristotle University of Thessaloniki, Greece, Applied Mathematics in Cambridge, UK, and obtained her PhD and DSc degrees both from Cambridge University in Astronomy and Engineering, respectively She is the Director of the Informatics and Telematics Institute of CERTH, Thessaloniki, Greece, and the Chair of Signal Processing at Imperial College London, UK She has co-authored two books, “Image Processing, the fundamentals” and “Image Processing dealing with texture”, in 1999 (second edition 2010) and 2006, respectively, and co-edited the book “Next generation artificial vision systems, reverse engineering the human visual system.” She has published more than 350 scientific articles on astronomy, computer vision, image processing and pattern recognition She is a Fellow of the Royal Academy of Engineering Kishore Pochiraju is an Associate Professor in the Department of Mechanical Engineering at Stevens Institute of Technology, Hoboken, NJ, USA He is also the Director of Design and Manufacturing Institute, a research center focusing on design methodologies, real time mechatronic systems and advanced materials He received his PhD in 1993 from Drexel University and joined Stevens after working as a postdoctoral fellow at the University of Delaware His research focuses on computational methods for advanced materials and systems design He is currently working on predicting long-term durability of lightweight composite structures with multi-scale computational methods and on design of real-time electro-mechanical systems He is an author of book chapters and nearly 125 journal and conference proceedings papers He is a member of ASME and IEEE S G Ponnambalam is an Associate Professor in the School of Engineering at Monash University, Sunway Campus, Malaysia He is heading the Mechatronics Engineering Discipline at Sunway Campus He is an Associate Editor of IEEE-Transaction on Automation Science and Engineering, International Journal of Robotics and Automation, International Journal of Computers and Applications, and Journal of Mechatronics and Applications He is also serving as editorial board member for many international journals He is holding a Senior Member status of IEEE, Fellow of IMechE(UK), and CEng(UK) He has over 200 articles published in various referred journals, refereed conferences and chapters in edited books His articles are published in different peer-reviewed journals, including International Journal of Production Research, International Journal of Advanced Manufacturing Technology, Production Planning and Control, Robotics and Computer-Integrated Manufacturing, Computers & Industrial engineering, Journal of Material Processing Technology, and International Journal of Intelligent Systems, Technology and Applications Surendra Ranganath received the B Tech degree in Electrical Engineering from the Indian Institute of Technology (Kanpur), the ME degree in Electrical Communication Engineering from the Indian Institute of Science (Bangalore) and the PhD degree in Electrical Engineering from the University of California (Davis) From 1982 to 1985, he was with the Applied Research Group at Tektronix, Inc., Beaverton, OR, 619 About the Contributors where he was working in the area of digital video processing for enhanced and high definition TV From 1986 to 1991, he was with the medical imaging group at Philips Laboratories, Briarcliff Manor, NY From 1991- 2009, he was with the Department of Electrical and Computer Engineering at the National University of Singapore He is currently a Professor at the Indian Institute of Technology – Gandhinagar His research interests are in digital signal and image processing, computer vision, and machine learning with focus on human-computer interaction and video understanding applications Francisco Rovira-Más received a degree in Agricultural Engineering in 1996 from the Polytechnic University of Valencia, Spain, where he was an Assistant Professor from 1997 to 2000 He obtained a Ph.D in Agricultural Engineering in 2003 from the University of Illinois at Urbana-Champaign in the United States of America Between 2003 and 2005, Francisco was a member of the Intelligent Vehicles System group at the John Deere Technology Center in Moline (Illinois) and at the John Deere Intelligent Vehicle Systems unit in Urbandale (Iowa), both in the USA In 2006, he returned to the Polytechnic University of Valencia where he currently is an Associate Professor His research interests include autonomous vehicles, machine vision, controls, stereoscopic vision, off-road equipment automation, robotics, and artificial intelligence Many of his ideas and previous projects are described in the monograph Mechatronics and Intelligent Systems for Off-road Vehicles (Springer, 2010) Daniel (Danny) Ruijters is employed by Philips Healthcare since 2001 Currently he is working as Sr Scientist 3D Imaging at the iXR innovation department in Best, the Netherlands He received his engineering degree at the University of Technology Aachen (RWTH), and performed his master thesis at ENST in Paris Next to his work for Philips, he has recently finished a joint PhD thesis at the Katholieke Universiteit Leuven and the University of Technology Eindhoven (TU/e) His primary research interest areas are medical image processing, 3D visualization, image registration, fast algorithms, and hardware acceleration Daniel has acted as session chair during the 2006 WSCG conference and the 2008 IASTED Conference on Computer Graphics and Imaging (CGIM), and was invited for the panel discussion of the 2008 MICCAI workshop on Augmented Environments for Medical Imaging and Computer-Aided Surgery (AMI-ARCS) He served as reviewer for the 2008 MICCAI High Performance Computing workshop, Computer Methods and Programs in Biomedicine, IEEE Transactions on Visualization and Computer Graphics, IEEE Transactions on Medical Imaging, and European Radiology Kah Phooi Seng received her PhD and Bachelor degree (first class honours) from University of Tasmania, Australia in 2001 and 1997 respectively Currently, she is a member of the School of Electrical & Electronic Engineering at The University of Nottingham Malaysia Campus Her research interests are in the fields of intelligent visual processing, biometrics and multi-biometrics, artificial intelligence, and signal processing Yan Shuicheng (SM’09) is currently an Assistant Professor in the Department of Electrical and Computer Engineering at National University of Singapore, and the founding lead of the Learning and Vision Research Group (http://www.lv-nus.org) Dr Yan’s research areas include computer vision, multimedia, and machine learning, and he has authored or co-authored about 190 technical papers over a 620 About the Contributors wide range of research topics He is an Associate Editor of IEEE Transactions on Circuits and Systems for Video Technology, and has been serving as the Guest Editor of the special issues for TMM and CVIU He received the Best Paper Awards from ACM MM’10, ICME’10, ICIMCS’09, and PREMIA 2008 Best Student Paper Award, the winner prize of the classification task in PASCAL VOC2010, and the honorable mention prize of the detection task in PASCAL VOC2010 Terence Sim received his Bachelor’s degree from Massachusetts Institute of Technology, in 1990, Masters from Stanford University in 1991 and PhD from Carnegie Mellon University in 2002 He is currently an Asst Prof at the School of Computing, National University of Singapore He serves as Vice-Chairman of the Biometrics Technical Committee (BTC), Singapore, and Chairman of the CrossJurisdictional and Societal Aspects Working Group (WG6) within the BTC He is also the Vice-President of the Pattern Recognition and Machine Intelligence Association (PREMIA), a national professional body for pattern recognition He won the 4th Temasek Young Investigator’s Award in 2005 His primary research areas are face recognition, biometrics, and computational photography He is also interested in computer vision problems in general, such as shape-from-shading, photometric stereo, object recognition and also in some aspects of music processing, such as polyphonic music transcription Peng Song received his B.S degree in Automation from Harbin Institute of Technology (2007), M.S degree in Control Science and Engineering from Harbin Institute of Technology Shenzhen Graduate School (2010) He is pursuing his Ph.D degree in the School of Computer Engineering, Nanyang Technological University since 2010 His research interests include computer vision and graphics, image-based modeling, and human computer interaction Rajeev Srivastava was born in 1974 in Jaunpur, Uttar Pradesh, India He received his B.E in Computer Engineering from Gorakhpur University, India; M.E in Computer Technology and Applications from University of Delhi, India and completed his Ph.D in Computer Engineering from the same University He has about 13 years of teaching and research experience Currently he is working as an Associate Professor in the Dept of Computer Engineering, ITBHU, Varanasi, India since November 2007 His research interests include image processing and computer algorithms He has published around 30 research papers in international journals and conferences He is listed in Marquis Who’s Who in Science and Engineering-2011; and “2000 Outstanding Intellectuals of the world-2010” by IBC, Cambridge He has been selected for the award of “Top 100 Educators of the World-2010,” and “Man of the year award-2010” both by IBC, Cambridge He is reviewer and member of editorial board of international journals, member of technical program committee of international conferences, and on the reviewer panel of Tata McGraw Hill and Oxford University Press, India He also received research grant from Ministry of HRD, New Delhi, India for his project on “E-content development for the subject Digital Image Processing and Machine Vision.” Ruchir Srivastava has been pursuing his PhD degree in Department of Electrical and Computer Engineering, National University of Singapore, since 2007 He obtained his Bachelor of Technology (B Tech) in Electrical Engineering from Indian Institute of Technology, Roorkee, India in 2007 His 621 About the Contributors research interests include image processing, facial expression recognition from 3D models, and emotion recognition using multimodal approaches Sreenivas Rangan Sukumar is an exploratory researcher with wide interests in science and engineering After graduating with a Doctor of Philosophy degree in Electrical Engineering from the University of Tennessee, Knoxville in 2008, he is currently a Research Scientist at the Oak Ridge National Laboratory He has over 20 publications spanning areas of system design for 3D/4D sensing systems, semi-supervised and autonomous 3D reconstruction of scenes, uncertainty minimization in mobile imaging systems and spatio-temporal optimization applied to defense and security applications His recent research interests are in deriving and implementing search and analysis methods for time-varying multi-variate sensor data streams generated by networked interconnected systems Hiroki Takada is currently an Associate Professor at the Graduate School of Engineering, University of Fukui since 2010 He is also an Associate Professor for Department of Human & Artificial Intelligent systems, University of Fukui and a Guest Researcher for Aichi Medical University School of Medicine He received many awards including an award for encouragement from Society for Science on Form in 2002 and PhD in science in 2004 Broadly, his research lies in Mathematical Physics (especially, Stochastic Process Theory) Applying this theoretical background, he enjoys doing research in Environmental Physiology for preventive medicine His research is focused on aging, fainting, and motion sickness which is also induced by stereoscopic images There have been eye strain issues in stereoscopic movies He is an editor of “FORMA” and Members of IEEE and International Society for Gerontechnology Nguyen Duc Thang received his B.E degree in Computer Engineering from Posts and Telecommunications Institute of Technology, Vietnam He is currently working toward his M.S leading to Ph.D degree in the Department of Computer Engineering at Kyung Hee University, South Korea His research interests include artificial intelligence, computer vision, and machine learning Xiaojun Wu is an Associate Professor at the Division of Control and Mechatronics, Harbin Institute of Technology Shenzhen Graduate School He received his B.S and M.S degree from Jilin University in 1998 and 2001 respectively, and PhD in Mechatronics from Shenyang Institute of Automation, Chinese Academy of Sciences in 2004 He received the Best Paper Award (with M.Y Wang) of 2007 International CAD Conference & Exhibition and the Best Paper Award in Information (with P Song and M.Y Wang) of IEEE ICIA (2009) He is engaged in research projects concerned with 3D scanning, surface reconstruction, image-based modeling, and heterogeneous object modeling and visualization Yeliz Yigit is a Graduate Student and Teaching Assistant at the Department of Computer Engineering in Bilkent University, Turkey She has received her B.S Computer Engineering and Information Sciences in 2007 and M.S Computer Engineering and Information Sciences in 2010 at Department of Computer Engineering in Bilkent University, Turkey She is still working as a Researcher in the 3DPhone project which is funded by the European Union 7th RTD Framework Programme since 2008 622 About the Contributors Her research interests include computer and mobile graphics, virtual reality and environments, 3D media, and human-computer interaction Iman Maissa Zendjebil received his PhD degree in computer engineering from the University of Evry Val d’Essonne (France) in 2010 His research works are focused on 3D localization for outdoor augmented reality applications Ke Zhang received the B.S and M.S degrees from Zhejiang University, Hangzhou, China, in 2005 and 2007, respectively, both in electrical engineering He is currently working toward the Ph.D degree in the Department of Electrical Engineering at Katholieke Universiteit Leuven, Leuven, Belgium Since 2007, he has been a PhD researcher at IMEC His research interests include multimedia processing systems, video coding, and computer vision Lu Zhang received his B.E degree in electrical engineering from Shandong University, Ji’nan, China, in 2007 and the M.S degree, with distinction honor, in embedded systems from Delft University of Technology, Delft, The Netherlands, in 2010 In his M.S thesis he studied state-of-the-art stereo matching algorithms and investigated the VLSI architecture for parallel and pipelined processing, and achieved both high accuracy and frame rates with a single Stratix-III FPGA implementation His current research and career interests include high performance and parallel computing, application specific hardware and software design, real-time systems and computer architecture He is currently working at Intel in Eindhoven, the Netherlands Song Zhang is an Assistant Professor of Mechanical Engineering at Iowa State University (ISU) He is also affiliated with the Human Computer Interaction (HCI) graduate program at ISU His research interests include real-time 3D machine/computer vision, 3D video processing, human computer interaction, and virtual reality He has published more than 60 papers including 27 journal articles and book chapters in optics, computer science, medical science, et cetera Among the journal papers he published, five of them were featured on their covers One of his papers was awarded the best of SIGGRAPH by the Walt Disney Co., and reported by the media including The-Scientist Magazine, Photonics, Physorg, First Science, and Futurity: Discover and the Future He currently serves as a reviewer for over twenty journals, and is a member of IEEE, SPIE, OSA, and ASME Mohammad Zia Uddin received his BS degree in Computer Science and Engineering from International Islamic University Chittagong, Bangladesh He is currently working toward his MS leading to Ph.D degree in the Department of Biomedical Engineering at Kyung Hee University, Republic of Korea His research interest includes pattern recognition, image processing, computer vision, and machine learning Svitlana Zinger received the MSc degree in computer science in 2000 from the Radiophysics faculty of the Dnepropetrovsk State University, Ukraine She received the Ph.D degree in 2004 from the Ecole Nationale Superieure des Telecommunications, France Her Ph.D thesis was on interpolation and resampling of 3D data In 2005 she was a postdoctoral fellow in the Multimedia and Multilingual 623 About the Contributors Knowledge Engineering Laboratory of the French Atomic Agency, France, where she worked on creation of a large-scale image ontology for content based image retrieval In 2006-2008, she was a postdoctoral researcher at the Center for Language and Cognition Groningen and an associated researcher at the Artificial Intelligence department in the University of Groningen, the Netherlands, working on information retrieval from handwritten documents She is currently a postdoc at the Video Coding and Architectures Research group in the Eindhoven University of Technology 624 625 Index 3D color scanner 58 3D Density 277-278, 281, 283, 285 3D DMB player 434, 436-438, 440-441, 443, 446447 Degree of Freedom (6DOF) 61-62, 65, 75 3D Face Recognition 101, 562-563, 571-573, 594 3D gaming 4-5, 7, 286 3D geometry 87, 89-90, 92-93, 96-97, 100, 104, 125, 160, 474, 478, 493 3D imaging 1-2, 7, 24, 87, 92, 121-123, 125-136, 243, 257, 260-261, 263, 287, 468-469, 471474, 476-477, 497-498, 506, 576, 578, 581, 594, 597, 606-607 3D Laser Scanning 500, 522, 527 3D Map 56, 59, 86, 494 3D Mapping 86, 243, 280, 471, 473, 484, 496, 499 3D mine mapping 473 3D modeling technique 10-11 3D point cloud 17, 57, 64, 89, 270, 272, 274, 277278, 285, 477 3D scene reconstruction 471 3D Shape Recovery 90-91, 163, 185-187, 206, 209210, 227 4D space 65-66, 69-70 3D TV 2, 4, 6-7, 434-435 3D TVs 4, 6-7, 121, 286, 541 3D volumetric approaches 15 4D (x, y, z, hue) space 56 A absolute intensity differences (AD) 401, 405-407, 409 accommodation training (AT) 297, 302 Action Units (AUs) 158, 577, 579-580, 592-593 Active 3D Scanner 470 Active Appearance Models (AAMs) 580, 591, 594 active stereopsis 381-385, 396 Adaptive Mesh 570, 572-573 Adaptive Support Region (ASR) 314-317, 319, 321, 324, 326, 330 Adaptive support weights (ASW) 329, 408, 410, 415 advanced three-dimensional television system technologies (ATTEST) 435, 449 advanced video coding (AVC) 370, 376-377, 416, 436-438, 440 Algebraic Reconstruction Technique (ART) 30, 52-53 Aligned Cluster Analysis (ACA) 580 All-in-Focus Image 187, 189-190, 198, 200, 203, 205, 208 anisotropy 151 Appearance Based Vision 396 Application Programming Interface (API) 253-254, 257, 263, 266 Application Specific Integrated Circuit (ASIC) 311, 315, 328, 330, 400 Areas Under the Curve (AUCs) 587 artificial intelligence (AI) 35, 37-39, 41-45, 85-86, 158, 161-162, 185, 268, 285, 393, 396, 414415, 497 asthenopia 286-287, 289, 297, 299 Augmented reality 472, 528, 535, 538-539 Augmented Reality System Component (ARCS) 535-536 autofocus algorithms 165, 185, 206, 226 Autostereoscopic 3-8, 346-348, 350-351, 354, 357358, 361-366, 368, 374, 376-378, 603, 606-607 Autostereoscopic display 5, 8, 346-348, 350-351, 354, 357-358, 363-364, 368, 374, 376 B Bad Pixel Error Rate (BPER) 308-309, 311-312, 314-316, 318, 324, 330 Bidirectional Reflectance Distribution Function (BRDF) 154 Index Bidirectional Texture Function (BTF) 154 bilinear interpolation 34, 36, 40-41, 43, 46-48 binary format for scenes (BIFS) 438, 449 Binary Structured Light 125, 140 Binocular Disparity 347 biometrics 452, 572, 592-593 bit sliced arithmetic coding (BSAC) 437, 449 Brenner gradient (BG) 193, 213 Bundle Adjustment 145-147, 159, 161-162, 483, 499, 581 C C++ 246, 252-255, 263 camera axis 286, 296, 305 Camera calibration 10-11, 23, 25-26, 140, 145, 156157, 161-162, 192, 212, 243, 402, 421-422, 430, 482, 497, 499, 533, 536, 539 catadioptric cameras 145, 161 cathode ray tube (CRT) 287-288, 302 CCD camera 19, 108, 129, 170, 200, 217, 220, 223, 419 cellular automata (CA) 103, 119, 136-137, 156-159, 162, 283, 300, 304, 377, 396, 402, 527, 557, 573, 591 Census Transform 250, 309, 311-316, 319, 321, 330 centre of pressure (COP) 290-291, 293-294, 296, 306 charge-coupled device (CCD) 4, 19, 106, 108, 110, 129, 153, 170, 198, 200, 217, 220, 223, 419, 457-458, 461, 466, 485, 487, 492 classical two-view stereo video (CSV) 597, 605 Color Point Cloud 56-60, 64, 67, 73-75, 77, 82-83, 86 Computed Tomography (CT) 2, 27-28, 32-33, 49, 52-55, 455, 467-468 Computer Aided Design (CAD) 80, 452, 503, 505506, 518-519, 530 computer graphics (CG) 10, 24-25, 89, 102-103, 119, 140, 161-162, 230, 242, 296, 300, 377, 416-417, 430, 443-444, 469, 491, 496, 539, 593, 607 constant support weight aggregation (CSW) 407408 Constructive Solid Geometry (CSG) 452 continuously adaptive mean shift (CAMSHIFT) 418-419, 422-426, 429 Conventional stereo video (CSV) 597, 605 Coordinate Measuring Machine (CMM) 1, 455-456 Copyright protection 108 correlation parameter (CP) 116 626 cosmogeochemical studies 523 D data conditioning 270-271 degree of freedom (DOF) 58, 61-62, 65, 75-76, 455, 482, 545-546 Dense Stereo Correspondence Algorithm 415, 417 density grids 271, 273, 277-278, 281, 283 Depth from Focus (DfF) 152, 185-186 depth image based rendering (DIBR) 363, 366-368, 377-378, 434-438, 440-442, 447-449 Depth-interpolated Image Feature (DIFT) 65 Depth Map 10, 14-15, 17, 19-21, 88-90, 96, 100101, 103, 149-150, 153, 163-164, 170-172, 174, 179, 181, 185-187, 190, 200-201, 203, 205-206, 208-213, 215-217, 220, 222-224, 227-228, 245-246, 248-250, 257, 262, 269, 308-310, 312, 314, 317-322, 324-325, 343, 362-363, 366-368, 376, 411, 417, 462, 540548, 550, 556, 560-561, 597-603, 608 development toolkits (SDKs) 477 digital audio broadcasting (DAB) 437, 449-450 Digital Signal Processing (DSP) 308, 311, 324, 327-330 Direct Memory Access (DMA) 329-330 discrete cosine transform (DCT) 100, 166, 168-169, 190, 194-195, 206, 208, 213, 226-227 discrete Fourier transform (DFT) 65, 106, 110, 113 discrete wavelet transform (DWT) 190, 195, 206, 208, 213, 227 disparity estimation and disparity compensation (DE/DC) schemes 32-33, 36, 38, 43-44, 46, 49, 51, 53, 55, 151, 158, 229, 241-242, 266, 290-291, 294, 300, 333-334, 363, 377-378, 399, 411, 413, 465, 467, 500-502, 524-526, 539, 549, 558, 593, 606 Disparity Images or Disparity Maps 285 disparity space image (DSI) 405, 407, 410 Dissimilarity Measure 263, 399, 405-407, 417 Distance Transform 391-392, 394 DLP projector 123, 126-127, 129-130, 132, 136 Double Data Rate (DDR) 320-321, 327-330 dynamic programming (DP) 70, 147, 159, 165, 169, 186, 214, 250, 257, 261-263, 265-266, 401, 408, 414 Dynamic Programming method 250 Dynamic Random Access Memory (SDRAM) 321, 329-330 Index E effective number of looks (ENL) 114, 116 eigenspace 558, 567, 569, 581 electrical impedance tomography (EIT) 28 electrocardiograms 289 Electronics and Telecommunications Research Institute (ETRI) 443-444, 448 Energy Concentration Measure 197, 199, 208 Environmental Mapping 391, 393, 396 epipolar constraint 147, 238 error prediction 534, 536 evidence grids 271, 283-284 Extended Gaussian Filter (EGF) 62 Extended Gaussian Image (EGI) 65 Extended Kalman filter (EKF) 61-62, 530 F Face Constriction Process (FCP) 563-566 Facial Action Coding System (FACS) 577, 591, 593 Facial Expression Recognition (FER) 574-583, 586, 588-592, 594 fast Fourier transform (FFT) 84, 293 fiducials 529-531, 539 field of view (FoV) 108, 120, 145, 273-274, 278, 281, 285, 335, 369, 452, 460, 464-467, 476, 478-479, 483, 488 Field Programmable Gate Array (FPGA) 307, 309, 311, 315-316, 319-321, 323, 326-330, 400-401, 415 Filtered Backprojection (FBP) 31, 52-53 fire detection 418-420, 422, 427-428, 430-432 fire-fighting robot 418-420, 422, 429, 432 flat panel displays (FPD) 350 focal length 144, 147, 151, 165, 191, 211, 238, 246, 273-274, 421, 442-443, 458-459, 474 Focused Image Surface (FIS) 185, 214-215, 228 Focus Measure 152, 165-169, 171, 174, 179-181, 183-187, 189-197, 199-200, 202-203, 205, 207210, 212-217, 220, 222-224, 227-228 Focus Measure operator 165-166, 209, 217 Forward projection modelling 27, 35, 48-50 Fourier transform (FT) 65, 110, 113, 123, 132, 137-139, 165, 168, 194, 196, 198, 205, 208, 291-293, 301, 373-374, 554 Fragile Watermarking 345 Free-Viewpoint Interpolation 362-363, 366, 373, 376, 378 Fringe Projection 87-88, 90-91, 93, 100-104, 121124, 126-129, 132-140, 469 frontal grid 278 full-calibration 11 Fuzzy using Neural Network 174 G Gabor filter 579-580 Gaussian noise 62, 170-175, 177-179 Gaussian process regression (GPR) 224 generalized regression neural networks (GRNN) 224 genetic programming (GP) 209-211, 216-224, 226228 Global Positioning System (GPS) 60, 64, 268, 278279, 284, 460, 483-487, 489, 491-492, 529-539 Gradient (SG) 16, 25, 93, 114-116, 120, 153, 158, 165-166, 192-193, 213, 295 graphics processing unit (GPU) 88, 93, 260-261, 264, 307, 309, 324, 329, 401, 463, 607 Gray Level Variance (GLV) 166-167, 169, 171-173, 177-179, 182-184, 193, 213 H Haar image compression 391 Hamming distances (HammingDist) 309, 312-313, 319, 322 head acceleration 286, 292-294, 299, 303, 305 head-mounted display (HMD) 288, 292-293, 296, 300-301, 303 Heinrich-Hertz-Institute (HHI) 443 Hidden Markov Models (HMMs) 432, 540, 552555, 557-559, 579, 581 high definition (HD) resolution 2, 4, 6-7, 88, 90, 100, 330, 366, 503-504, 514, 518, 521 high efficiency advanced audio coding (HEAAC) 437, 450 High Speed and High Resolution 140 Histogram Entropy (HE) 167-169, 172-173, 178 Holoencoding 92 hologram 105-112, 119-120, 356, 464 holography 7, 105-111, 114-117, 119-120, 185, 241, 475 Holoimage 87-88, 90, 93-97, 99-102, 140 Holoimaging 90-92, 94-96, 99-101, 104 homomorphic diffusion 116 Homomorphic Filter 120 Hue-Assisted Iterative Closest Point (H-ICP) 66-69, 71-73, 75-77, 79 hue, saturation, intensity (HSI) 419, 422-423 Hue-Saturation-Lightness (HSL) 66-67, 72, 82, 406-407 627 Index hull computation 12, 14, 25, 148, 158 human activity recognition (HAR) 540, 542, 552558 human computer interaction (HCI) 428, 541, 552, 555-556, 561, 575, 590-591, 594-595 human visual system (HVS) 403-404, 408 I Imaging Noise 74 Imaging, Robotics and Intelligent Systems Laboratory (IRIS) 471, 473 impact rock 501, 522 Independent Component Analysis (ICA) 553, 555, 580 Inertial Measurement Unit (IMU) 60, 64, 279, 485486, 538 infrared 58, 80, 210, 230, 241-243, 288, 411, 430 InfraRed radiation (IR) 155, 232-233, 235-236, 411 Intelligent Robotics 159-160, 380, 384, 396, 415 International Organization for Standardization (ISO) 296, 449 International Workshop Agreement (IWA3) 296 irradiance equation 149, 151 Iterative Closest Point (ICP) 56-57, 64-66, 68-73, 75-79, 82, 84-86, 465, 559 Iterative Least-Squares Technique (ILST) 30 Iterative Reconstruction Technique (SIRT) 30 J JPEG compression 98-101, 340 K KLT (Kanade Lucas Tomasi) tracker 530, 534 L Laplacian 16, 114-115, 166, 169, 193, 213, 543, 558 Laser Detection And Ranging (LADAR) 460 layered depth video (LDV) 596-601, 605, 607 level of detail (LOD) 90, 102-103, 269, 491 Light Detection And Ranging (LIDAR) 57-58, 84, 86-87, 460 Linear Discriminant Analysis (LDA) 562, 566-567, 569-570, 573, 580 liquid crystal display (LCD) 5-6, 180-181, 226, 287-288, 290, 293, 296-297, 302, 364-365, 368, 373-377, 438 look-up-table (LUT) 441 628 lossy image compression 332-333, 340, 366, 368, 447 Lumigraphs 400, 416 Luminance Difference Threshold (LDT) 315-320, 330 luminosity-compensated dissimilarity measure (LCDM) 399, 405-407 M Magnetic Resonance Imaging (MRI) 2, 28 Maker-Based Human Motion Capture 561 Map Registration 56-57, 59, 64-65, 72 Markerless-Based Human Motion Capture 561 Mathematical Hologram 109-110, 120 Maximum A Posteriori (MAP) method 30 Maximum Likelihood (ML-EM) algorithm 30 Mean Method (MM) 167, 169, 173, 178, 183 Mean-Shift Segmentation 600, 608 mean square error (MSE) 72, 75-79, 113, 116, 163, 170, 174, 201, 215, 218, 222, 403 mean structure similarity index map (MSSIM) 116 Meteorite 500-501, 521-522, 524, 527 metric measures 174, 184, 188 microscope control system (MCS) 200-201, 223 Middlebury benchmark 15, 19-20, 318 Million Disparity Estimations per second (MDE/S) 309, 311, 330 Mixed Reality (MR) 300-303, 528-529, 531, 535536, 538 Modified Laplacian (ML) 166, 169, 193, 213 Modular Stereo Vision 245-246, 249-251, 259, 261, 263, 266-267 Modular Stereo Vision Model (MSVM) 249-254, 257, 259, 261-262 monoscopic images 331-333 Morphological Modelling 527 motion history image (MHI) 422 motion sickness 286, 289-290, 292, 294-296, 301303, 306 multi-focus fusion 189-190 multi-lens projection 347 multilevel motion history images (MMHI) 580 Multi-view video 363-364, 368, 376-378, 448, 597-598 multi-view video plus depth (MDV) 597-598, 605 N Nearest Neighbor Search (NNS) 65, 68-69, 74 negative parallax 360-361 Next Best View (NBV) 63 Index noise reduction 30, 49, 112, 187, 270, 283, 310 non-linear minimization 145, 532 non-occluded pixels 247 Non-Uniform Rational B-Spline (NURBS) 452, 468 Normalized Cross-Correlation (NCC) 15, 257, 312, 330, 399 O Object Digitization 470 object-oriented programming (OOP) 251-254, 263, 267 Occlusion 19, 25, 156, 161, 247-249, 262-263, 267, 310, 321, 325-326, 399-400, 414, 417, 429, 530-531, 537-538, 541-542, 583 octree 12, 14, 17, 25, 148, 162, 468 off-road intelligent vehicles 268, 273, 275, 284 Optical Transfer Function (OTF) 168, 190, 192, 205, 213 optimal composite depth (OCD) 209, 211, 216, 218-221 orthogonal iteration (OI) 532 orthophoto 503 P Parallax Shading 608 parallel barrier technology partial differential equation (PDE) 112, 115-117, 119-120 Particle Filter (PF) 61-62, 191, 390-391, 395, 416, 530, 538, 559 Passive 3D Scanner 470 passive stereopsis 383, 396 pavement management system (PMS) 488-489 pay-per-view (PPV) 438 PDE-Based Filters 115, 120 Peak Signal-to-Noise Ratio (PSNR) 116, 222-223, 335-337, 340-341, 345, 370, 372-373 personal digital assistant (PDA) 437 Phase Shifting 90-91, 102, 104, 122-124, 127, 137140, 467 Phase Unwrapping 92, 101-102, 104, 108, 124, 129, 136, 138, 140 Phase Wrapping 104, 140 photogrammetry 84, 157, 160, 227, 465, 468, 496498, 502-503, 525-526 Photometric Stereo 150, 156, 158, 463-464, 467 photo-realistic 3D scene capture 471 piecewise-constant functions 370 piecewise-linear functions 370 Pinhole Camera 90, 144, 162 Point Cloud 17, 19, 56-60, 63-65, 67-80, 82-84, 86, 88-89, 270-272, 274, 277-278, 285, 477, 479, 487, 502, 563, 572 point cloud both from stereo and silhouette (PCSTSL) 17-18 point cloud from silhouette (PCSL) 17-18 point cloud from stereo (PCST) 17-18 Point Grey Triclops unit 383 point spread function (PSF) 128, 165, 190, 192, 212 polygon file format (PLY) 89, 97, 512 portable media player (PMP) 437 Portable Network Graphics (PNG) 89, 97-98, 258, 337 Positron Emission Tomography (PET) 2, 27-28, 32-34, 54-55 precision agriculture 268, 278, 284 Principal Component Analysis (PCA) 205-206, 227, 553, 555, 562, 566-567, 569-570, 573, 579 Projector Defocusing 121, 127, 130, 136-137, 140 R random sample consensus algorithm (RANSAC) 146, 480-481, 483, 533 Rate-Distortion (R-D) 368-371, 373, 377 Receiver Operating Characteristics (ROC) 249, 587-588 red, green, blue (RGB) 65-67, 72, 93, 99, 130, 239, 270, 335-336, 368, 370, 406, 422, 503, 541, 544-551, 553, 556, 594, 600 region of interest (ROI) 424, 545 reversible watermarking 331-337, 339-340, 342345 Riegl model 391 robotization 268, 282 Robust Watermarking 334, 342, 345 Root Mean Square Error (RMSE) 50, 163, 170, 174-175, 179, 181, 184, 188, 201, 203, 215, 222 S sampling importance resampling (SIR) 530 scatter-trace photography 230, 243 security systems 108 self-calibration 11, 496 self-localization 59-61, 85, 487 semi-autonomous mode 269 Shape from Defocus 152, 157, 159, 162 629 Index Shape from Focus (SFF) 152, 157, 160, 162-165, 169, 181, 185-190, 198, 206-215, 224, 226228, 231, 474 shape from heating (SFH) 230, 232-234, 236-237, 241, 243 Shape from Shading 11, 26, 149-150, 156, 158, 161-162, 230, 467, 474 shape from silhouette 10-12, 26, 148, 156, 162, 232 Shape from Texture 11, 23-24, 26, 151, 157-159, 161-162, 474 shatter cone 500-501, 508, 522-525, 527 Shepp_Logan phantom 27-28 short time Fourier transform (STFT) 196, 208 Shot noise 170, 173, 175, 177-179 Signal Power (SP) 167, 169, 172-173, 178, 182 signal-to-noise ratio (SNR) 114, 116-120, 222, 345, 370 simulator adaptation syndrome (SAS) 287 simulator sickness questionnaire (SSQ) 289-290, 292-293, 301 Simultaneous Algebraic Reconstruction Technique (SART) 30 Simultaneous Localisation and Mapping (SLAM) 59, 61-62, 64-65, 85-86, 283, 391, 393, 396, 398 Single Photon Emission Computed Tomography (SPECT) 27-28, 33, 51-52, 55 Singular Value Decomposition (SVD) 64-65, 71, 482, 580 sinusoidal structured (fringe) patterns 90-92, 95, 100, 103-104, 106, 109, 121-135, 137, 140, 462 Sobel operators 166, 192, 213 Social Signal Processing (SSP) 589-590, 592 sparse density (SPD) 291, 293, 295-296, 303 Sparse Stereo Correspondence Algorithm 417 Spatial Existence 347 spatial impression 347 spatial multiplexing 350, 357 speckle index (SI) 116-118, 120 Speckle Noise 105, 108, 111-112, 114-117, 119120, 163, 170, 173-174, 176, 178-179 Speckle reducing anisotropic diffusion (SRAD) 112, 114, 116, 118-120 spherical diopter (SPH) 297 Spiky Noise 99-100, 104 squared gradient (SG) 153, 165, 193, 213 squared intensity differences (SD) 258, 405-407, 506 stabilogram diffusion function (SDF) 291 stabilometry 286, 289-290, 292-293, 296, 302-303, 306 630 Static Random Access Memory (SRAM) 315, 330 stereo algorithms 10-12, 19, 21-22, 147-148, 247249, 257, 398, 400, 406, 581 Stereo Baseline 285 stereo-correlated points 277, 285 Stereo Correspondence 160, 263-264, 266, 330, 343-344, 397-398, 401-402, 404-405, 407, 410412, 415-417, 560 Stereo matching 11-12, 14, 26, 150, 186, 236, 247248, 253, 263-266, 307-312, 314-315, 317-320, 327-330, 337, 339, 413-414, 416-417, 474, 545, 561 Stereo Method 267 Stereo Module 267 Stereoscopic 2-5, 7-8, 87, 108, 158, 232, 236, 238239, 265-266, 268-269, 271, 280, 282-284, 286-289, 291-293, 295-297, 299, 301-305, 308, 344, 347, 350, 360, 363-364, 377, 404, 438, 447-449, 458, 461, 466, 499, 541, 598 stereoscopic holography 108 Stereo Vision 14, 25, 122, 146-147, 156, 160, 162, 245-254, 257-268, 276, 280, 282-285, 305, 330, 397-398, 400, 402, 404, 410-415, 418419, 426, 428-429, 431-432, 573 stochastic differential equation (SDE) 291 S-transform (ST) 189-191, 196-201, 205, 207-208, 213 structural similarity index measure (SSIM) 201, 203 Structured Light 11, 19, 87-88, 90, 102-104, 122, 125, 127, 137-138, 140, 161, 230, 243, 343, 382, 462, 464-465, 467-469, 477-478 sum of absolute intensity differences (SAD) 309, 312, 314, 330, 339, 401-402 Sum of Modified Laplacian (SML) 166, 168-169, 172-173, 178, 182-183, 193, 213 Super Video Graphics Adapter (SVGA) 320, 330 Support Vector Machine (SVM) 448, 574, 579-580, 585, 587, 590, 592 support vector regression (SVR) 224 surface textures 383, 502, 506, 521 System-on-Chip (SoC) 327, 330, 428 T tagged image file format (TIFF) 97 Tenenbaum focus measure (TEN) 166, 169, 172174, 177-179, 183-184, 213 terrain mapping 278-279, 283, 491 terrestrial-digital multimedia broadcasting (T-DMB) systems 434-438, 440, 447-449 threshold absolute gradient (TAG) 193, 213 Index time of flight (ToF) 57, 460-461 tomographic reconstruction 27-29, 32, 34, 45, 4748, 243 transfer function gain (TFG) 294 traversability 271, 284, 398, 410-413, 417 Traversability Estimation 398, 410-411, 417 triangular membership functions 426 Triangulation 11, 14, 93, 98, 122, 124, 136, 147, 156, 236, 382, 384, 394, 458, 460-464, 470, 472-476, 478, 484, 487, 499, 503, 572 two-dimensional (2D) images 2, 4-6, 13, 27-28, 32, 34-36, 45, 57-59, 62, 65, 69, 87-90, 93, 97-101, 104, 112, 115, 122, 144, 146, 155-156, 163, 165, 167, 183, 198, 210, 238, 270, 274, 280, 288, 299, 316, 320, 322-326, 332, 343, 362, 382, 403, 405-407, 411, 416, 419, 421, 424-425, 430, 435, 438, 446, 448-449, 451, 455-456, 458, 470, 474-475, 477, 483, 494, 499, 529-530, 532-534, 536, 562-563, 565, 571, 573-574, 576, 578, 580-583, 585-586, 590, 593, 599, 603-606 two-frame stereo vision algorithm 245 U universal image quality index (UIQI) 201, 203, 208 University of Tennessee, Knoxville (UTK) 471, 473, 478, 489, 492, 499 urban mapping 471, 473, 484, 491-492 V Validity Box 271-273, 285 Validity Box approach 271 Video based fire flame detection 418, 432 Video based smoke pattern recognition 432 video display terminals (VDTs) 287, 301 Video Graphics Adapter (VGA) 307-308, 329-330 video plus depth (V+D) 596-601, 605 Viewpoint interpolation 307-312, 316-321, 326, 329, 376 Virtual Reality 10, 300, 304, 377, 381, 389, 393, 448, 453, 467, 525, 538-539, 607 visual analog scale (VAS) 297-298 Visual Hull 12-19, 22, 24-26, 148-149, 158, 230, 559 Visually induced motion sickness (VIMS) 286-287, 289-290, 292-293, 296, 299, 301-303 Visual Servoing 418, 420-421, 423, 426, 428, 432 Voronoi cell 374-376 voting octree 17 voxel 14-15, 17, 23, 25, 32-34, 38, 40, 347, 362, 455, 560 W Watermarking 331-337, 339-340, 342-345 wavelet transforms (WT) 62, 196, 374, 486 wheeled mobile robot (WMR) 426 windows driver model (WDM) 421 Winner-Takes-All (WTA) 250, 257, 261, 312, 319, 322-323, 330, 405 Z Zero mean Normalized Cross-Correlation (ZNCC) 399, 405 zero-order diffraction 105, 107-108 631 ... Cataloging-in-Publication Data Depth map and 3D imaging applications: algorithms and technologies / Aamir Saeed Malik, Tae Sun Choi, and Humaira Nisar, editors p cm Summary: “This book present various 3D algorithms. .. application of 3D methods in various domains, including 3D imaging algorithms, 3D shape recovery, stereoscopic vision and autostereoscopic vision, 3D vision for robotic applications, and 3D imaging applications? ??... briefly introduces 3D imaging with respect to various 3D consumer products and 3D standardization activity It also discusses the challenges and the future of 3D imaging INTRODUCTION 3D imaging is not