Mau - Bao cao ket qua nghien cuu potx

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B môn K thut dy hc
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SINH VIÊN THC HIN 1  2345  #6/789/8:9
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? !@(A)BCD"BEFG&HBI;J@K
H(*LB/.(!MNGO @B1DP!BQN*
BBE()(R;QGSH(T((F(/Q
PUB;JC;QV W*!H*XDH
&<Y*BQPUN*W/
? .(!MN*-BEWA*VLA
F B)+*ZDBRV'*-/'*-V*()N!-
 C/[B-N'*-V (*-GZ
W;\;Q/3BCV(&X*!% 

PB/-WV-*'*-BEBB;JF
!!E!+ VLNBQPU;(D]D% CPD
D!-^/3DR+ &'_!JD"(VL
'(!M/5WRMB;J! +;X+
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`DRWN+ *`!DHV + + K*(^
? AF (;<(( !"#$N@MDBa
V@M`QV*VL*XDBEB "
!+ P% C*PC PbNXB1&X/
V"BcVL(!MV;QV ** U!
*UU;<% 'N;QDBaVGZ
*@+BPC /
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
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 !"#$ "%!$&"$'()*+,+#
/+01"$&"$2"3$4#45!67,+#
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 !"#$%&!%'()*+,
/$'0!"#*+1234567#!"#"2
8
[A AF -NB+VAF GO @ !"
+ K@M!AK&';`D*`dVDP!  !`VDU
P`!`/"BPU!&X+ DFBM*eB;Jf
B'!*a(gBhDiDj;G&% @% &'
Wk`D(l& VA*a(gWmnV+ /*N
 @!GO @+ V(oV+ BE*/5)
& @RB+ !A<P\]V m*`!
k*`!V!D*`!!`dlW]`((V!k`((V!`*`!l/

 Ab BM#+ KW& V"W*f
B']BNBM*!#+ KHW& NBM*BRVA
*a(g/;BEX \!AD*UPtereo reconstruction 
o*@MD*`!D*a(g& /MRMV !"#
+ N@M(W*B;J*U% HHBU;J/= 
&DW**U% RMB;Jcorrespondence
problem, reconstruction problem  calibration problem/P1RppqV
*a(gW
?3X*_BM*m !A*a(gpfB'*BM*m’ !Apq;<F
XRkcorrespondl/*correspondRLVBM*mm’VN
*BM*M BRV)V;J!A *a (gppq/ fB' m’
;<FX m ] Vcorrespondence problem (hay matching problem )/r 
!W*V*% !W(F(/3W@BM*XPPR!*
;QBa!H! kP!l;P;<-D- D-
VADFD`((V!D!`VfDP;<F% Vk*  V!!`P(``l^
(;<((;QB;JP1V!A;QBk`P?P`l
!ABa!;kd` !`?P`l/
?& &!;XBM*mm’WfB']B#+ NM!
*]BBR]Vreconstruction problem/fT*WB<
o**`!=A d' M!A**a(gDVG
H*`!Dsf7tf:VBGkP(!l+BH
BM*;<F**q!A K*`!/BR]BuNBM*[
9
B;JfB'`(;<((B*k! VlVukfDlsd/v/@(
J(!'uFX*]BM*!A]VBoBPC k`(*(l
?KW& W*fB''!-D;XPUN*`!
]Vcalibration problem/


889:;:


<="$>?>+"#$ "%!, "5!(")@>+)("#3$1AB""$C$7"+0.
1>D")*E>+F+01")GA(2"#45!67,+#

:&'3#);<!=.>?'@A""
6,
BC*#D$22/EFGH#AIJA,
? AF A Region Based Stereo Matching Algorithm Using Cooperative
Optimization - j`?w xDj?j`k:878l&!W
 @GX(P`!`*X!APU; RG&J(H=/
 @B;JB+f P1G ;VBM*PP<
fB'P;;<FN=YVJUGA* PbN
=P&+B*'PVy HG V+
G+/MRB;JBoAVJ(VzW*NU; RB;JP1
BMV**M (-G&J(H=/FD*
K
(;<(((CB!A* PbB;JP1BM(CBW
*& H=X* PbBo/FD(;<((
GX(B;JP1BMfBPAVB) N*_BM*/.
BRDGO @*a(g(=J(P`B;J(BMRB;J
PUNPAVH*a(g;<FXKG 
W/ U=DPG+UPUH*a(gN
=B;JU; R\% !WU; RHPJ(N
=B&G B;J*BoAVA/&% 1*!A
GM*!N[V` !Ha(W&BE
(;<((V*!H(;<((fC;<F
UBoAV B;J!)XHV !&/
 @(T(RM @(B;JBoAVV;J
<PX;X-AVB) /M*UN @VRR
GZ**{!&P1V_-f/ AD @

G*QV*&BMW*B;J* @
<e;**{<!QV*F!VX/
? AF 3D RECONSTRUCTION BASED ON STEREOVISION AND
TEXTURE MAPPING. (Institute of Information Science, Beijing Jiaotong
University, 100044, Beijing, China - (08120416)@bjtu.edu.cn) - |,}D
j`~[Dh%, DiVxk.`(`*`!7t#D:878l
 !"#$V*!HVLAF !)*W*-
Bo]*-DRB;J(!+ VL;!n<`D
Pf (*]D;GO @PUD! +D&^DR
B;J*W#$!AW:$/3XD"
RMVa(VD% P*WKFBM*W
+ *@&XU</!D
B;JP1U;fCB**CBM*D !"+*aBM
RB;JG + N@M/MG + N@MPUB
AW)A*G& N@a/AF F
*!Y(;<((NG&R*PUVJ&;-GD
>
 !"2<^!A<P\N+ AF !VL
D]P1;!A+ )*WP`!`D
 !"+*apPP;m!A*aB
!;<VDRMB;J;XB;<!G
/[a=+ AF BEBB;J+  !VL
;RyRGHAF Vz &F
&/
? A F  3D Scene Reconstruction Using Partial RGB+Depth Map -
[`~  (`!G/  . (`!P`    •/  €PV  !VGD  [!/  *P
PG/k:87#lAF !W !"
+ P1 €B PC B;J (\*&
[!Pd`/ _NG B;J Y  M
*`!DB;JB+ GM\;QDBMRM @(B*

*CBM*BNV/p;<((•pB;JP1BMPb(
f&(B**CBM*NG W&(`DP1(;<((;<F
.•€w&f H*KW€;;X-VAG&
B) /W*G&*BM*fR*Y(;<((•pB;JZU
Y\*G?!``/.VAG&NG W&(`(T(
V MBN*`!!G#$*B)BN
BRDRM!H*WB**CBM** (F(NV
aBU;J/$*&`m(T( VHV BPC !
G8D>*B&9*D(;<((N& B;JGM*!N& \*
!;QDRMV(nD@D@MK
S/& GRBaB) D•p)K:8B&68;XV@(BMPb(
f&(B**BM*D& RBaB) PU*f Un‚
B&:8DR (HVAG&U<!*PU!;QJ(/5&
NAF VP1()F!ƒ+AmRM !"
B<`;X2&(@/
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
KL!"#"#$ "%!,+#
I$MN>"#$ "%!,+#

NOP)E!"J'' Q%E/65/#/FE<RDFR/65
3),
N/A')+E!"J'A/A')3DE#$
S!.=),
?  AF 
• AF (;<((BPC K*`!P`!`
&'% TNB/

• BPC V;X;XV;JBPC \K'!-!A
!A:+ B) /3RM!A*a
+ (\+ RBG V*B) /
? p*AF W*M U.`!`o**`! AVz
BN&';`D.!  !`,D*`d,/


OPQR;ORISPTQRO/:O

1#4$!67)GA()B#45!67F+01"$&"$.
11$73U")B#45!67F+01")GA(.
I$CV"#3$13E1$$%$B)B#45!671F+01")GA(,+#
T

 $%E%L!"#"./$$%3A67'(
),
-##/FPD3$%#$%E!"#"; ,
:&!%/65/#/E#)$%#!"#",
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? <P\Vz &NVL !"#$BEB;J*PU A
F B;!KHZ*B) N@(Gm7„>8;pk7„…„l[!!
k7„>:l/&X"BPUV&X+ DLV*BM*
B;JfB'\#]B(X, Y, Z)DG& VA*Z(gWmn
+ /*N @ !"#$V(oV+ BE
*/5) & @B+ !A<P\]V m
*`!  k*`!  V!D  *`!  !`dl    W  ]  †((V!
k`((V!`*`!l/
?  Ab BM#+ KW& V"W*
fB']BNBM*!#+ KHW& NBM*BR
VA*a(g/[U.`!`3Po*@MD

*`!D*a(g& /MRMV !"#+ N@M
(W*B;J*U% HHBU;J/
? 3 !"#$RM*]B<% ;XP 
? r !WbB) X;X @(HV D!BRD*;Q
 Mf % (LYP1**)*
/
• pPGX(Ba!;*A N;XVW*M
Ba!;;<HWG PGX("/
• po !" MBNFV]B#$N
Ba!;B;J(D'!-D;XPUN*
'!-(/3XBa!;(=J(D! W]H
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BM*RMB;JV@(/.1W]†((V!GO @P
GX(BMRB;Ja(-Z;<F/
• Bo.`!`;X  !Bo G&J(Ba/W**
(;<!W]*+*aNBU;J*-
fa{/&J(X !"\;X!ARMfC*
BoBPC Ba/
• [WRo*NBMV**W&kfC
*WV;XDV@(BoG& l/
QBCBCFH<CUV0CW><?CECKXRCT
MR7BU;J#$")&-+
* PbBPC K+ BM*!ABU;J\+ RWG /p)
!WFBN`DH @B;JDBM
RM!!+BPC ;** U/
M @WDP1&' @WV*‡`*W
;Q/a(*&•€*`!•€(!~`!P{(UJ(X BM!
!'BPC Y,Np!*`.`P`/
,B!A(!=*oBa!;
!AKkGWB;J;X*b;Ql/

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Minh ha quy trình thu cảnh và xuất ra bản đồ đ sâu của Kinect
`=**&[ˆ. cBM@Vo
'(fVG&(f"X*!;QDBa!;*fB'
M'!-o!=*BPC NBB;J/p!~`!P{
& *=*PoDAHBU*P\G(-
!;X`D@(J(BU*PB;J(!VUB'/HBU*P
B;J  !  Q*   o  P ! +  %   V;X  2  f  kdd!
!Pl/@(J(BU*PB;J•€*`!(VD% 
 @BaB;J-J(!p.78>8.!BoBPC /
N @V(T(W]!A% H*&
•€*`!p!~`!*P{B+@(P /-B;J
A!`Y(p.78>8.Np!*`.`P`/.1(
p.78>8.-PPBMfB'BPC N=*
(ff !BPC NBM*/*XB;JV
B(F-f<D!ƒ<P1\*!;Q!/
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? C<C<R=CT !"PV% !WfCV !"N*
G+ Y& g**y B;J&NH
BM*k;QV;Xl*/O @(!
=*R !"Va(D@VG&% /‰G&% RM(
+ (;<(((C-G BMfB'BVoV4*N@B;J
& /[y & VABU;JRMV*+ a+ /p;<
(((C-!A*y (!G&%  @VAR
+ (C-G VAB;J(!M/
!WD(VP`!(=*VP`!`*+ D*
A*RfB'XBU;JDBVoV4*NB;Qg
@B;J*- !"#$N@B;J% T/

? RFZ&C[F\]T[w (*Q:/6$kmV
*()N+*aRMW\*wlB*
BU;J/*`dwVo**(@(VP`!*&@
VP`!/*`dwV(!VP`!BM*@+*aNBo@D
-GK&'B&KBM*NBU;JD-Q
 MN=*VP`!/(@(VP`!P G(=*
VP`!D@VQBM*(PRD(@@G@B;J
VP`!W@QBM*@BR/BRD;<FX*BM*
P{R*!=*(!DRG& NVP`!
BR/Q& o*Q*B&BU;JQ(
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**WGHV)@V#/#(P/
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ND$22/+(3D$' Q%ED$',
X Y'6"Z:3D"6"Z
["4##<&ED$;<!=2&D#!Z:*'*/+
;36"Z
? &% NB+
• p;<((.`!`3P(PGX(Ba!;D(o
 !" MBNDBo.`!`D*WR&

kfC*WV;XDV@(BoG& l/
• &'`W*M B;J AVzB`/a(*
&•€*`!•€(!~`!P{(UJ(X BM!!'
BPC Y,Np!*`.`P`DGO @
,=* oPo& VAG&
J(X**`!oBM-G/
• #$.`!W*M B;J AVzBN.!  !`,
*`d,/
? *fCB;J()*+*`*U.`!`XF
Z
• ;B) @(!'*PU/
•  M* !        !" #$   !A ; 
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• ;<!WB]dV` !"#$k3€[,l/
? $`*F !"#$K&'`B]dV`/f`K`
. /wV`/f`V; * €D+ PC NBU;J/$
HBRD`. P{f  !"#$N
BU;J/
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
WR<S;IO9Z

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*+"#$ "%!)@,+N^1"#_>D")*#-N`.("#&"$D3$7"$C$7"+0.
I$a"&$>+F+",!U""$b"#\75!4)M)C[.$b"#$M"$7c"d"M,+#
C`"#3$1AB"'()*+,+#

ND$22/*+E16/#3"65,

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? &V @!B+ G&+QD oV <P\@
AG&% BB;JnRH&/FB+ G+<P\
@AR*BEW*M B;J AVzB !"#$/
3+F*DR*m`*F(;<((
!"#$NU.`!`3P`*F`% 
dV`/f`N`. /FD&+Vz &;<F*
B) (S*PUB+ GB';(G(F
(DB+ GPDGPV/!nRH&
+QG&F A*N;QB+eC*
PUGRGZ/
? 5;X(!M!;<VB+RM(!MA*GZG
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