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3D 機器視覺是計算機視覺的重要組成部分。本書對3D 機器視覺的基礎知識、核心算法及應用進行了系統、全面的介紹，具體包括3D 傳感器、3D 數據表示、3D 數據存儲與壓縮、3D 數據處理、3D 幾何測量與建模、3D 物體識別和3D 動作識別等。本書力求理論結合實際，在原理與概念講解的基礎上，輔以簡單的應用實例，便於讀者深刻地理解各部分的知識點並學以致用。為滿足讀者自檢與思考的需要，書中給出了一些思考題，並列出了主要文獻供讀者參考。
名人/編輯推薦
美國工程院院士等人力薦，圍繞3D機器視覺，內容由淺入深、循序漸進。
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第1 章 引言·············································································································.1
1.1 何為“3D 視界”·······················································································.1
1.2 如何玩轉3D 視界······················································································.2
1.3 本書的主要內容·························································································.4
1.3.1 章節內容························································································.4
1.3.2 應用介紹························································································.5
1.4 面向的讀者································································································.6
第2 章 3D視界的硬實力與軟實力――3D 相機與開發平臺·······························.8
2.1 概述············································································································.8
2.2 雙目相機··································································································.10
2.2.1 雙目相機原理···············································································.10
2.2.2 立體匹配方法···············································································.13
2.3 結構光3D 相機························································································.17
2.3.1 結構光相機原理···········································································.17
2.3.2 結構光的分類···············································································.19
2.3.3 結構光的標定與匹配···································································.21
2.4 ToF 相機···································································································.24
2.4.1 ToF相機的發展歷程和分類························································.25
2.4.2 ToF相機原理···············································································.26
2.4.3 ToF的標定與補償·······································································.32
2.5 三種相機的對比及典型應用···································································.35
2.5.1 三種相機的對比···········································································.35
2.5.2 三種3D 相機的典型應用····························································.37
2.6 DMAPP 開發平臺····················································································.42
2.6.1 SmartToF SDK――數據獲取與處理···········································.43
2.6.2 DMAPP 架構················································································.47
2.6.3 DMAPP 的特點與優勢································································.49
2.7 總結與思考······························································································.49
參考文獻···········································································································.50
第3 章 3D數據表示方法·····················································································.51
3.1 概述··········································································································.51
3.2 深度圖······································································································.52
3.3 點雲··········································································································.55
3.3.1 點雲概念介紹···············································································.55
3.3.2 點雲數據獲取···············································································.56
3.3.3 3D 相機數據與點雲的轉換·························································.58
3.3.4 點雲數據分類及應用···································································.62
3.4 體素··········································································································.64
3.4.1 體素和體數據的概念···································································.64
3.4.2 點雲的體素化···············································································.66
3.4.3 體素的應用場景···········································································.67
3.5 三角剖分·················································································
1.1 何為“3D 視界”·······················································································.1
1.2 如何玩轉3D 視界······················································································.2
1.3 本書的主要內容·························································································.4
1.3.1 章節內容························································································.4
1.3.2 應用介紹························································································.5
1.4 面向的讀者································································································.6
第2 章 3D視界的硬實力與軟實力――3D 相機與開發平臺·······························.8
2.1 概述············································································································.8
2.2 雙目相機··································································································.10
2.2.1 雙目相機原理···············································································.10
2.2.2 立體匹配方法···············································································.13
2.3 結構光3D 相機························································································.17
2.3.1 結構光相機原理···········································································.17
2.3.2 結構光的分類···············································································.19
2.3.3 結構光的標定與匹配···································································.21
2.4 ToF 相機···································································································.24
2.4.1 ToF相機的發展歷程和分類························································.25
2.4.2 ToF相機原理···············································································.26
2.4.3 ToF的標定與補償·······································································.32
2.5 三種相機的對比及典型應用···································································.35
2.5.1 三種相機的對比···········································································.35
2.5.2 三種3D 相機的典型應用····························································.37
2.6 DMAPP 開發平臺····················································································.42
2.6.1 SmartToF SDK――數據獲取與處理···········································.43
2.6.2 DMAPP 架構················································································.47
2.6.3 DMAPP 的特點與優勢································································.49
2.7 總結與思考······························································································.49
參考文獻···········································································································.50
第3 章 3D數據表示方法·····················································································.51
3.1 概述··········································································································.51
3.2 深度圖······································································································.52
3.3 點雲··········································································································.55
3.3.1 點雲概念介紹···············································································.55
3.3.2 點雲數據獲取···············································································.56
3.3.3 3D 相機數據與點雲的轉換·························································.58
3.3.4 點雲數據分類及應用···································································.62
3.4 體素··········································································································.64
3.4.1 體素和體數據的概念···································································.64
3.4.2 點雲的體素化···············································································.66
3.4.3 體素的應用場景···········································································.67
3.5 三角剖分·················································································
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