1、 Liu Xiaoyang Jun 16,2015 Depth MapContents:What is Depth Map?1 How to get Depth Map?2What is Kinect?3 How does Kinect work?4SDK for Kinect5 Application6 What is Depth Map?Where are you in the world?How to get Depth Map?被动深度获取：被动深度获取：单目：特征统计学、形状恢复技术、几何投影双目立体视觉三目主动深度获取：主动深度获取：结构光扫描Depth from FocusTim
2、e of FightLight Coding How to get Depth Map?双目立体视觉：双目立体视觉：How to get Depth Map?结构光扫描：结构光扫描：How to get Depth Map?Depth from Focus：（1）对焦）对焦目标清晰度评价函数（2）散焦）散焦点扩散函数求取R How to get Depth Map?Time of Fight：（1）直接）直接（2）间接）间接 How to get Depth Map?TOF摄像头：摄像头：Mesa Imaging SwissRanger 4000PMD Technologies CamCube
3、 2.0 3DV systems ZCam How to get Depth Map?Light Coding：用光源照明给需要测量的空间编码光源不同，激光散斑普通CMOS感光芯片精度只与参考平面的密度有关 What is Kinect?What is Kinect?红外投影机红外投影机RGB摄像头摄像头红外摄像头红外摄像头麦克风阵列麦克风阵列指示灯指示灯 What is Kinect?How does Kinect work?Depth深度图Skeleton骨骼图游戏小人Avatar How does Kinect work?激光散斑激光散斑红外激光生成器红外激光生成器扩散片扩散片光栅光栅K
4、inect红外激光投射器原理图红外激光投射器原理图 How does Kinect work?How does Kinect work?空间14m的范围，每隔1cm取一个参考平面，300幅散斑图像。标定的间距越小，精度越高。How does Kinect work?How does Kinect work?How does Kinect work?How does Kinect work?泊松方程滤除噪声泊松方程滤除噪声平滑算法平滑算法 SDK for KinectImage StreamDepth StreamAudio StreamApplication SDK for KinectKin
5、ect for Xbox 360基于基于“管道管道”的系统构架的系统构架 SDK for Kinect如何获取数据流如何获取数据流：轮询模型开启数据流设置等待时间T帧数据就绪，返回；否则，null。事件模型FreamReady事件调用属性FreamReadyEventArgsOpenImageFrame方法 SDK for Kinect事件模型示例：事件模型示例：Void sensor_DepthFreamReady(object sebder,DepthImageFreamReadyEventArgs e)DepthImageFream depthFream=e.OpenDepthImageFream SDK for Kinect深度图像像素存储形式深度图像像素存储形式：SDK for Kinect其他语言识别 SDK for Kinect设备获取参数设置设备启动事件注册事件处理设备关闭编程模型：编程模型：Application Application Advantages：Metric Input/Output Fast and robust algorithmsChallenges：Outdoor Large Deformation Crowd MocapThe endThanks！
