本研究透過深度攝影機取得三維場景資訊，將虛擬模型組裝於使用者選取之真實物件上。藉由虛實組裝結果的呈現，在完整產品原型未完成前，即可進行設計評估。根據使用者提供的組裝特徵資訊，由場景取得的幾何及影像資訊中，自動進行特徵的無標記辨識與追蹤，透過面貼合與軸對稱兩種常用的組裝關係，準確定位真實影像與幾何模型，輔助進行分散式協同組裝。此外發展兩項全新的即時性評估技術：「截面切割顯示」與「組裝干涉檢查」，以量化的方式檢驗組裝相容性。為克服單一攝影機視角的限制，透過場景校正功能整合多台深度攝影機，以取得更完整的場景資訊，提供高品質的擴充實境互動經驗。本研究開啟深度攝影機於動作擷取之外，在產品設計上的創新性應用。

摘 要 i
致 謝 ii
目 錄 iii
圖目錄 v
表目錄 viii
第一章 緒論 1
1.1 研究背景 1
1.2 文獻探討 1
1.2.1 結合實境技術之設計評估應用 1
1.2.2 擴增實境於虛實組裝之應用 3
1.2.3 虛擬實境之虛實組裝技術 3
1.2.4 小結 4
1.3 研究目的 4
第二章 系統架構 5
2.1 環境設置 5
2.2 虛實組裝 5
2.3 組裝干涉檢驗 7
2.4 多台攝影機校正場景 8
第三章 基礎虛實組裝模組 10
3.1 組裝模型之組裝特徵 10
3.1.1 兩軸對稱與一面貼合 10
3.1.2 兩面貼合與一交點 11
3.2 面貼合組裝介面 12
3.2.1 最小平方法之三維點群平面迴歸 12
3.3 軸對稱組裝介面 14
3.3.1 基於彩色影像之橢圓偵測 14
3.3.2 結合彩色及深度資料之橢圓偵測 17
3.4 組裝特徵之剛體轉換 17
3.4.1 虛擬模型座標系定義 18
3.4.2 座標轉換 19
3.5 小結 23
第四章 進階虛實組裝模組 25
4.1 截面之點群切割顯示 25
4.2 組裝干涉檢查 27
4.2.1 模型與點群之關係 27
4.2.2 網格與點群之交集 28
4.3 測試結果 30
4.4 干涉檢查結果影響 32
4.5 小結 33
第五章 真實場景校正模組 35
5.1 多台攝影機結合場景 35
5.2 校正用標記 36
5.2.2 標記座標系定義 36
5.2.3 取得標記座標系 37
5.3 校正標記使用方式 38
5.3.1 單面標記 38
5.3.2 雙面標記 39
5.4 攝影機座標轉換 40
5.4.1 攝影機與標記位置之座標轉換 40
5.4.2 多台攝影機間之座標轉換 42
5.5 校正精準度 42
5.5.1 場景校正之誤差計算 43
5.5.2 不同校正方式誤差比較 43
5.6 測試結果 49
5.7 小結 58
第六章 系統實作 59
6.1 程式執行環境設置 59
6.2 場景校正 59
6.2.2 多台攝影機效果 60
6.3 虛實組裝應用 62
6.3.2 虛實組裝結果 63
6.3.3 組裝干涉檢查 64
6.3.4 截面切割顯示 66
第七章 結果與討論 68
7.1 討論 68
7.2 未來展望 69
參考文獻 70

[1] H. Wang, D. Xiang, G. Duan, and L. Zhang, Assembly Planning Based on Semantic Modeling Approach, Computers in Industry 58 (2007) 227-239.
[2] G. Peng, G. Wang, W. Liu, and H. Yu, A Desktop Virtual Reality-based Interactive Modular Fixture Configuration Design System, Conputer-Aided Design 42 (2010) 432-444.
[3] S. Jayaram, U. Jayaram, Y. Wang, and H. Tirumali, VADE: A Virtual Assembly Design Environment, IEEE Computer Graphics and Applications (1999) 44-50.
[4] G. Chryssolouris, D. Mavrikios, D. Fragos, and V. Karabatsou, A Virtual Reality-based Experimentation for the Verification of Human-related Factors in Assembly Processes, Robotics and Computer Integrated Manufacturing 16 (2000) 267-276.
[5] W. C. Wang, Y. H. Chen, and C. Y. Kao, Integrating Augmented Reality into Female Hairstyle Try-on Experience, IEEE Seventh International Conference on Natural Computation (2011) 2125-2127.
[6] A. Chen, C. Y. Kao, Y. H. Chen, and W. C. Wang, Applying Augmented Reality to Consumer Garment Try-on Experience, Transactions on Computational Science XIII, Lecture Notes in Computer Science Vol. 6750 (2011) 169-190.
[7] K. Kjærside, K. J. Kortbek, H. Hedegaard, and K. Grønbæk, ARDressCode: Augmented Dressing Room with Tag-based Motion Tracking and Real-time Clothes Simulation, Central European Multimedia and Virtual Reality Conference (2005).
[8] D. Bradley, G. Roth, and P. Bose, Augmented Reality on Cloth with Realistic Illumination, Machine Vision and Applications Vol. 20 (2009) 85-92.
[9] S. H. Huang, Y. I. Yang, and C. H. Chu, Human-centric Design Personalization of 3D Glasses Frame in Markerless Augmented Reality, Advanced Engineering Informatics 26 (2012) 35-45.
[10] P. Eisert, J. Rurainsky, and P. Fechteler, Virtual Mirror: Real-time Tracking of Shoes in Augmented Reality Environments, IEEE International Conference on Image Processing Vol. 2 (2007) 557-560.
[11] S. K. Ong, Y. Pang, and A. Y. C. Nee, Augemented Reality Aided Assembly Design and Planning, Annals of the CIRP 56 (2007) 49-52.
[12] S. K. Ong and Z. B. Wang, Augmented Assembly Technologies based on 3D Bare-hand Interaction, CIRP Annals – Manufacturing Technology 60 (2011) 1-4.
[13] A. Y. C. Nee, S. K. Ong, G. Chryssolouris, and D. Mourtzis, Augmented Reality Applications in Design and Manufacturing, CIRP Annals – Manufacturing Technology 61 (2012) 657-679.
[14] V. N. Rajan, K. Sivasubramanian, and J. E. Fernandez, Accessibility and Erogonomic Analysis of Assembly Product and Jig Designs, International Journal of Industrial Ergonomics 23 (1999) 473-487.
[15] J. Osterlund and B. Lawrence, Virtual Reality: Avatars in Human Spaceflight Training, Acta Astronautica 71 (2012) 139-150.
[16] I. Zeid, CAD/CAM Theory & Practice, 2nd Edition, (2001) McGraw-Hill.
[17] ARToolkit (2007), http://www.hitl.washington.edu/artoolkit/.
[18] L. Shapiro and G. Stockman, Computer Vision, (2001) Prentice Hall.
[19] S. Y. Chang, Product Customization Design Technologies in Consideration of Manufacturability, master’s thesis, National Tsing Hua University (2012).
[20] T. Lindeberg, Edge Detection and Ridge Detection with Automatic Scale Selection, International Journal of Computer Vision 30(2) (1998) 117-154.
[21] W. H. Press, S. A. Teukolsky, W. T. Vetterling, and B. P. Flannery, Numerical Recipes: The Art of Scientific Computing, Third Edition, (2007) Cambridge University.
[22] A. Maimone and H. Fuchs, Encumbrance-Free Telepresence System with Real-time 3D Capture and Display Using Commodity Depth Cameras, IEEE International Symposium on Mixed and Augmented Reality (2011) 137-146.
[23] ROS.org (2011), http://www.ros.org/wiki/openni_kinect/kinect_accuracy.
[24] A. Maimone, J. Bidwell, K. Peng, and H. Fuchs, Enhanced Personal Autostereoscopic Telepresence System Using Commodity Depth Cameras, Computers & Graphics 36 (2012) 791-807.
[25] K. Khoshelham and S. O. Elberink, Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications, Sensors Vol. 12 Issue 2 (2012) 1437-1454.