interreflections : the inverse problem lecture #12 thanks to shree nayar, seitz et al, levoy et al,...
TRANSCRIPT
Interreflections :
The Inverse Problem
Lecture #12
Thanks to Shree Nayar, Seitz et al, Levoy et al, David Kriegman
Graphics
Vision: Estimating Shape of Concave Surfaces
Actual Shape
Shape from Photometric Stereo
Need to account for Interreflections!!
Shape and Interreflections: Chicken and Egg
• If we remove the effects of interreflections, we know how to compute shape.
• But, interreflections depend on the shape!!
So, which comes first?
Linear System of Radiosity Equations - RECAP
KnownKnown
Unknown
• Matrix Inversion to Solve for Radiosities.
Use Radiance instead of Radiosity
• Vision shape-from-intensity algorithms work on Radiance.
• Assume image pixel covers infinitesimal scene patch area .
• Form factor is called “Interreflection Kernel”, K (better name).
j
ijjisi KLLL
Radiance of a facet is given by the linear combination of radiances from other facets.
Loosely, we can say, this weighted averaging in the directionof concave curvature.
Why do concavities appear shallow?
j
ijjisi KLLL
Radiance of a facet is given by the linear combination of radiances from other facets.
Loosely, we can say this weighted averaging in the directionof concave curvature.
Matrix Form of Interreflection Equation
LKPLL s
sLLKPI )(
Pseudo Shape and Reflectance
•Apply any shape from intensity algorithm ignoring interreflections!
Actual Shape
Pseudo-shape from Photometric Stereo
•KEY IDEA: The pseudo shape and reflectance (albedo) is related to the actual shape and reflectance.
Pseudo Shape/Reflectance from Photometric Stereo
iii nN
...],,,[ 4321 NNNNFFacet Matrix :
sLKPIL 1)(
s.)( 1 FKPIL Sourcedirection
],,[.)(],,[ 3211
321 sssFKPILLL Three Source Directions :
Pseudo Shape/Reflectance from Photometric Stereo
],,[.)(],,[ 3211
321 sssFKPILLL Three Source Directions :
FKPIFp1)(
Pseudo Shape :
1321321 ],,[.],,[ sssLLLFp
Key Observations
FKPIFp1)(
• Pseudo Facets: Lambertian! “Smoothed” versions of actual facets (shallow) Pseudo albedos may be greater than 1.
• Pseudo Shape and Albedos are independent of source direction! This allows us to reconstruct actual shape.
Iterative Refinement of Shape and Albedos
•Start with pseudo shape and albedos as initial guesses.
•Compute Interreflection Kernel K, and Albedo matrix P.
•Iterate until convergence.
piii FKPIF 11 )(
pFF 0
Important Assumptions and Observations
•Any shape-from-intensity method can be used.
•Assumes shape is continuous (for integrability).
•All facets contributing to interreflections must be visible to sensor.
•Facets are infinitesimal lambertian patches.
•Complexity:
•Convergence shown for 2 facets.
•Does not always converge to the right facet for large tilt angles (> 70).
)( 2MnO (M Iterations, n facets)
3D Objects withTranslational Symmetry
3D Objects withTranslational Symmetry
Shape and Interreflections: Chicken and Egg
• If we remove the effects of interreflections, we know how to compute shape.
• But, interreflections depend on the shape!!
So, which comes first?
Removing Interreflection
Images by Ward et al., SIGGRAPH 88
Bounce Images
Main ResultsThere exists a matrix C1 that removes all
interreflections in a photograph (or lightfield)
Works for any illumination
There is a matrix Ck that retains only the kth bounce
Light transport
T
The transport matrix
=
T Lin Lout
Accounts for• interreflections, shadows, refraction, subsurface scatter, ...• [Dorsey 94] [Zongker 99] [Debevec 00] [Peers 03] [Goesele 05] [Sen 05] ...
The transport matrix
=
T Lin Lout
Direct illumination rendering
=
T1 Lin L1out
Single bounce from light to eye• no interreflections
BRDF
Inverse rendering
=
T-1Lin Lout
Removing Interreflections
L1out Lout
= T-1T1
C1
Second derivation:• from the rendering equation [Kajiya 86] [Cohen 86]
Cancellation Operators
Recursively define other operators(I – C1)
– gives interreflected light
C2 = C1 (I – C1)– gives second bounce of light
Ck = C1(I – C1)k-1
– gives kth bounce of light
Inverse ray tracing!
How to compute C1
Simplified case• Lambertian reflectance and fixed viewpoint
• Lin and Lout are 2D
• Can capture T by scanning a laser
Synthetic M Scene
T C4TC3TC2TC1T
1
2 3
4
T (log-scaled)
1
2
3
4
T C4TC3TC2TC1T
real data
(x3) (x3) (x6) (x15)
direct indirect
direct indirect
(x3) (x3) (x6) (x15)
flash light illumination
Shape and Interreflections: Chicken and Egg
• If we remove the effects of interreflections, we know how to compute shape.
• But, interreflections depend on the shape!!
So, which comes first?
The 4D transport matrix
scene
photocellprojector camera
camera
The 4D transport matrix
scene
projector
P
pq x 1
C
mn x 1
T
mn x pq
T PC =
The 4D transport matrix
pq x 1mn x 1
mn x pq
TC =
The 4D transport matrix
10000
mn x pq
pq x 1mn x 1
TC =
The 4D transport matrix
01000
mn x pq
pq x 1mn x 1
TC =
The 4D transport matrix
00100
mn x pq
pq x 1mn x 1
The 4D transport matrix
T PC =
pq x 1mn x 1
mn x pq
The 4D transport matrix
applying Helmholtz reciprocity...
T PC =
pq x 1mn x 1
mn x pq
T P’C’ =
mn x 1pq x 1
pq x mn
T
Marc Levoy
Example
conventional photographwith light coming from right
dual photographas seen from projector’s position
Marc Levoy
Properties of the transport matrix
• little interreflection → sparse matrix
• many interreflections → dense matrix
• convex object → diagonal matrix
• concave object → full matrix
Can we create a dual photograph entirely from diffuse reflections?
Marc Levoy
Dual photographyfrom diffuse reflections
the camera’s view
Marc Levoy
The relighting problem
• subject captured under multiple lights
• one light at a time, so subject must hold still
• point lights are used, so can’t relight with cast shadows
Paul Debevec’sLight Stage 3
The 6D transport matrix
The 6D transport matrix
Marc Levoy
The advantage of dual photography
• capture of a scene as illuminated by different lights cannot be parallelized
• capture of a scene as viewed by different cameras can be parallelized
scene
Measuring the 6D transport matrix
projector
camera arraymirror arraycamera
Marc Levoy
Relighting with complex illumination
• step 1: measure 6D transport matrix T
• step 2: capture a 4D light field
• step 3: relight scene using captured light field
scene
camera arrayprojector
TT P’C’ =
mn x uv x 1pq x 1
pq x mn x uv
Marc Levoy
Running time
• the different rays within a projector can in fact be parallelized to some extent
• this parallelism can be discovered using a coarse-to-fine adaptive scan
• can measure a 6D transport matrix in 5 minutes
Can we measure an 8D transport matrix?
scene
camera arrayprojector array