Precise Depth Image Based Real-Time 3D Difference Detection
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Then, this thesis answers Q2 by providing solutions for enhancing the 3D difference detection accuracy, both by precise pose estimation and by reducing depth measurement noise. A precise variant of the 3D difference detection concept is proposed, which combines two main aspects. First, the precision of the depth camera s pose estimation is improved by coupling the depth camera with a very precise coordinate measuring machine. Second, measurement noise of the captured depth images is reduced and missing depth information is filled in by extending the 3D difference detection with 3D reconstruction.The accuracy of the proposed 3D difference detection is quantified by a quantitative evaluation. This provides an anwer to Q3. The accuracy is evaluated both for the basic setup and for the variants that focus on a high precision. The quantitative evaluation using real-world data covers both the accuracy which can be achieved with a time-of-flight camera (SwissRanger 4000) and with a structured light depth camera (Kinect). With the basic setup and the structured light depth camera, differences of 8 to 24 millimeters can be detected from one meter measurement distance. With the enhancements proposed for precise 3D difference detection, differences of 4 to 12 millimeters can be detected from one meter measurement distance using the same depth camera.By solving the challenges described by the three research question, this thesis provides a solution for precise real-time 3D difference detection based on depth images. With the approach proposed in this thesis, dense 3D differences can be detected in real time and from arbitrary viewpoints using a single depth camera. Furthermore, by coupling the depth camera with a coordinate measuring machine and by integrating 3D reconstruction in the 3D difference detection, 3D differences can be detected in real time and with a high precision.