novel depth cues from uncalibrated near-field lighting
DESCRIPTION
Novel Depth Cues from Uncalibrated Near-field Lighting. Sanjeev J. Koppal and Srinivasa Narasimhan. Carnegie Mellon University Sponsors: ONR and NSF. Distant Lighting. Sun. Parallel Rays. Scene. Near-field Lighting. Indoor. Night. Underwater. Underground. - PowerPoint PPT PresentationTRANSCRIPT
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Novel Depth Cues from Uncalibrated Near-field Lighting
Sanjeev J. Koppal and Srinivasa Narasimhan
Carnegie Mellon University
Sponsors: ONR and NSF
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Distant Lighting
Sun
Scene
Parallel Rays
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Near-field Lighting
Indoor Night
Underground Underwater
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Scene
Calibrated Near Point Light Source
Inverse-square fall-off can give depth information
(Clark 92, Iwahori et al 94, Kao and Fuh 95, Magda et al 01, Zickler et al 02, Prados and Faugeras 05)
1
R 2
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Our Key Idea
Scene
Move an uncalibrated point light source in a line or a plane
‘baseline’
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Appearance Model
BRDF Illumination and Viewing angles Foreshortening
Distance to Source
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Experimental Setup
LED
Scene
Camera
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Plane-Scene Intersectionsfor Lambertian Scenes
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Light source moves in a line
t = i
Scene
Camera
t = 0
t = n
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Maxima in Intensity
Scene
Camera
Plane perpendicular to light source path.
t = i
t = 0
t = n
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Lambertian Scenes
Lambertian Model:
Solve for maxima location:
Expression for maxima:
Albedo
Quadratic
Shortest distance to light source path
If D is small, maxima happens at t = i
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Moving the Light Source in a Line
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Moving the Light Source in a Line
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Input Images
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Plane-Scene Intersections
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Similar to Structured Light
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Rough Earthen Pot
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Painted House
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Metal Office Desk
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Wax Candle
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Depth Orderingfor Homogeneous Scenes
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Light source moves in a plane
Scene
Camera
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Integrating the Profile
Integral of Profile:
P
Q
Overlapped Incident Angles
P
Q
S < S if:
Works for convex Lambertian scenes
p q
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Moving the Light Source in a Plane
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Moving the Light Source in a Plane
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Input Images
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Depth Ordering
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Plotting ordering as a pseudo-depth
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Plastic Beach Ball
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Plastic Beach Ball
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Polyresin Statue
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Polyresin Statue
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Depth Orderings from Different ‘Views’
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Depth Orderings from Left Plane
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Depth Orderings from Image Plane
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Depth Orderings from Right Plane
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Symmetry Pairsfor Homogeneous Scenes
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Matching Profiles
Scene
Camera
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Matching Profiles
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Light source moves in reflection plane
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Light source moves in reflection plane
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Input Images
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Symmetry Pairs
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Metal Office Desk
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Conclusions• Line or plane paths for a near
light source are a ‘baseline’.
• Depth cues can be obtained
from such uncalibrated light paths.
• The cues are from the light source
‘viewpoint’ and not from the camera.