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xix Chapter 1: Introduction  1 1.1 Motivation  1 1.2 Camera Model  3 1.3 Stereo Reconstruction in the Simplified Epipolar Geometry  5 1.4 Scale Invariant Feature Transform (SIFT)  7 1.5 RANdom SAmple Consensus (RANSAC)  11 1.6 Approach  12 1.7 Summary of Key Results 13 1.8 Organization  14 1.9 References  15 Chapter 2: An Algorithm for Reconstructing Three Dimensional Images from Overlapping Two-Dimensional Intensity Measurements with Relaxed Camera Positioning Requirements  19 2.1 Abstract  19 iv 2.2 Introduction  20 2.3 Image Preparation and Triangulation-Based Geometric 3-D Reconstruction ... 22 2.3.1 Image Rescaling and Rectification  22 2.3.2 Sum of Absolute Difference Algorithm  25 2.3.3 Depth of Triangulation  26 2.4 Experimental Results 31 2.5 Conclusions  40 2.6 References  40 Chapter 3: Factors Effecting Real Time Optical Monitoring of Fused Filament 3-D printing  43 3.1 Abstract  43 3.2 Introduction  43 3.3 Methods  47 3.3.1 Single Camera Setup  50 3.3.2 Two Camera Setup  52 3.3.3 Validation  52 3.4 Results  55 3.5 Discussion  65 3.6 Conclusions  68 3.7 References  69 v Chapter 4: An Open Source Algorithm for Reconstructing 2-D Images of 3-D Objects being Fabricated for Low-cost, Reliable Real-Time Monitoring of FFF-Based 3-D Printing  74 4.1 Abstract  74 4.2 Introduction  75 4.3 Method  77 4.4 Results  83 4.4.1 The Normal State of Filament Condition 86 4.4.2 The Failure State of Filament Condition  87 4.5 Discussion  89 4.6 Conclusions  91 4.7 References  91 Chapter 5: 360 Degree Real-Time Monitoring of 3-D Printing Using Computer Analysis of Two Camera Views  97 5.1 Abstract  97 5.2 Introduction  98 5.3 Method  101 5.3.1 Experimental Equipment  101 5.3.2 Theory  104 5.3.3 Experiments  112

AN ALGORITHM FOR RECONSTRUCTING THREE-DIMENSIONAL IMAGES FROM OVERLAPPING TWO-DIMENSIONAL INTENSITY MEASUREMENTS WITH RELAXED CAMERA POSITIONING REQUIREMENTS, WITH APPLICATION TO ADDITIVE MANUFACTURING