本論文提出了一個低成本且易於使用的小物件3D掃描系統。因為價格及普及度，我們使用Kinect作為掃描器，它可以提供即時深度影像，作為系統的輸入使用。微軟曾提出名為KinectFusion的演算法，用以建構場景的3D模型，我們的系統為基於KinectFusion演算法的延伸應用，讓使用者可以以手拿物件的方式，在Kinect前面旋轉物件以完成掃描，且使用者不需戴手套或調整任何顏色參數。在掃描的過程中，系統將顯示目前已完成的模型，作為使用者的參考。KinectFusion演算法使用體素及truncated signed distance function (TSDF) 做為3D模型的平面表示方法，如此可有效利用GPU平行運算，以達到即時的效果。有別於以往系統需要戴手套，以顏色區分手部資訊的方法，我們改良TSDF的整合方式以達到自動去除手部干擾的效果。因於Kinect的雜訊特性，在深度影像的邊緣部分容易產生較大誤差，所以我們使用gradient thresholding的方法去除影像邊緣。因為我們對於整合方式的修改，降低了疊合時產生的誤差，以省去後處理的步驟。整個系統的流程為，Kinect擷取深度影像後傳送至個人電腦，經過個人電腦內的GPU進行平行運算，產生模型並即時顯現於螢幕上，使用者依據目前的模型逐漸掃描完成。

致謝 i
摘要 ii
Abstract iii
Contents iv
1. Introduction 1
2. Related Work 3
3. KinectFusion 5
3.1. Surface Measurement 5
3.2. Surface Reconstruction Update 6
3.3. Surface Prediction 9
3.4. Sensor Pose Estimation 11
4. Proposed Method 13
4.1. Preprocessing 13
4.2. Integration Strategy 17
4.3. Pose Estimation Strategy 18
4.4. Rendering 19
5. Experimental Results 21
5.1. System Setup 21
5.2. Voxel Resolution 22
5.3. Gradient Thresholding 24
5.4. Reconstruction Results 25
6. Conclusion 39
Reference 40

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