Stereoscopic viewing, roughness and gloss perception

This thesis presents a novel investigation into the effect stereoscopic vision has upon the strength of perceived gloss on rough surfaces. We demonstrate that in certain cases disparity is necessary for accurate judgements of gloss strength. We first detail the process we used to create a two-level taxonomy of property terms, which helped to inform the early direction of this work, before presenting the eleven words which we found categorised the property space. This shaped careful examination of the relevant literature, leading us to conclude that most studies into roughness, gloss, and stereoscopic vision have been performed with unrealistic surfaces and physically inaccurate lighting models. To improve on the stimuli used in these earlier studies, advanced offline rendering techniques were employed to create images of complex, naturalistic, and realistically glossy 1/fβ noise surfaces. These images were rendered using multi-bounce path tracing to account for interreflections and soft shadows, with a reflectance model which observed all common light phenomena. Using these images in a series of psychophysical experiments, we first show that random phase spectra can alter the strength of perceived gloss. These results are presented alongside pairs of the surfaces tested which have similar levels of perceptual gloss. These surface pairs are then used to conclude that naïve observers consistently underestimate how glossy a surface is without the correct surface and highlight disparity, but only on the rougher surfaces presented

Measuring perceived gloss of rough surfaces

This thesis is concerned with the visual perception of glossy rough surfaces, specifically those characterised by 1/fB noise. Computer graphics were used to model these natural looking surfaces, which were generated and animated to provide realistic stimuli for observers. Different methods were employed to investigate the effects of varying surface roughness and reflection model parameters on perceived gloss. We first investigated how the perceived gloss of a matte Lambertian surface varies with RMS roughness. Then we estimated the perceived gloss of moderate RMS height surfaces rendered using a gloss reflection model. We found that adjusting parameters of the gloss reflection model on the moderate RMS height surfaces produces similar levels of gloss to the high RMS height Lambertian surfaces. More realistic stimuli were modelled using improvements in the reflection model, rendering technique, illumination and viewing conditions. In contrast with previous research, a non-monotonic relationship was found between perceived gloss and mesoscale roughness when microscale parameters were held constant. Finally, the joint effect of variations in mesoscale roughness (surface geometry) and microscale roughness (reflection model) on perceived gloss was investigated and tested against conjoint measurement models. It was concluded that perceived gloss of rough surfaces is significantly affected by surface roughness in both mesoscale and microscale and can be described by a full conjoint measurement model

Material perception and action : The role of material properties in object handling

This dissertation is about visual perception of material properties and their role in preparation for object handling. Usually before an object is touched or picked-up we estimate its size and shape based on visual features to plan the grip size of our hand. After we have touched the object, the grip size is adjusted according to the provided haptic feedback and the object is handled safely. Similarly, we anticipate the required grip force to handle the object without slippage, based on its visual features and prior experience with similar objects. Previous studies on object handling have mostly examined object characteristics that are typical for object recognition, e.g., size, shape, weight, but in the recent years there has been a growing interest in object characteristics that are more typical to the type of material the object is made from. That said, in a series of studies we investigated the role of perceived material properties in decision-making and object handling, in which both digitally rendered materials and real objects made of different types of materials were presented to human subjects and a humanoid robot. Paper I is a reach-to-grasp study where human subjects were examined using motion capture technology. In this study, participants grasped and lifted paper cups that varied in appearance (i.e., matte vs. glossy) and weight. Here we were interested in both the temporal and spatial components of prehension to examine the role of material properties in grip preparation, and how visual features contribute to inferred hardness before haptic feedback has become available. We found the temporal and spatial components were not exclusively governed by the expected weight of the paper cups, instead glossiness and expected hardness has a significant role as well. In paper II, which is a follow-up on Paper I, we investigated the grip force component of prehension using the same experimental stimuli as used in paper I. In a similar experimental set up, using force sensors we examined the early grip force magnitudes applied by human subjects when grasping and lifting the same paper cups as used in Paper I. Here we found that early grip force scaling was not only guided by the object weight, but the visual characteristics of the material (i.e., matte vs. glossy) had a role as well. Moreover, the results suggest that grip force scaling during the initial object lifts is guided by expected hardness that is to some extend based on visual material properties. Paper III is a visual judgment task where psychophysical measurements were used to examine how the material properties, roughness and glossiness, influence perceived bounce height and consequently perceived hardness. In a paired-comparison task, human subjects observed a bouncing ball bounce on various surface planes and judged their bounce height. Here we investigated, what combination of surface properties, i.e., roughness or glossiness, makes a surface plane to be perceived bounceable. The results demonstrate that surface planes with rough properties are believed to afford higher bounce heights for the bouncing ball, compared to surface planes with smooth properties. Interestingly, adding shiny properties to the rough and smooth surface planes, reduced the judged difference, as if surface planes with gloss are believed to afford higher bounce heights irrespective of how smooth or rough the surface plane is beneath. This suggests that perceived bounce height involves not only the physical elements of the bounce height, but also the visual characteristics of the material properties of the surface planes the ball bounces on. In paper IV we investigated the development of material knowledge using a robotic system. A humanoid robot explored real objects made of different types of materials, using both camera and haptic systems. The objects varied in visual appearances (e.g., texture, color, shape, size), weight, and hardness, and in two experiments, the robot picked up and placed the experimental objects several times using its arm. Here we used the haptic signals from the servos controlling the arm and the shoulder of the robot, to obtain measurements of the weight and hardness of the objects, and the camera system to collect data on the visual features of the objects. After the robot had repeatedly explored the objects, an associative learning model was created based on the training data to demonstrate how the robotic system could produce multi-modal mapping between the visual and haptic features of the objects. In sum, in this thesis we show that visual material properties and prior knowledge of how materials look like and behave like has a significant role in action planning

The Computation of Surface Lightness in Simple and Complex Scenes

The present thesis examined how reflectance properties and the complexity of surface mesostructure (small-scale surface relief) influence perceived lightness in centresurround displays. Chapters 2 and 3 evaluated the role of surface relief, gloss, and interreflections on lightness constancy, which was examined across changes in background albedo and illumination level. For surfaces with visible mesostructure (“rocky” surfaces), lightness constancy across changes in background albedo was better for targets embedded in glossy versus matte surfaces. However, this improved lightness constancy for gloss was not observed when illumination varied. Control experiments compared the matte and glossy rocky surrounds to two control displays, which matched either pixel histograms or a phase-scrambled power spectrum. Lightness constancy was improved for rocky glossy displays over the histogram-matched displays, but not compared to phase-scrambled variants of these images with equated power spectrums. The results were similar for surfaces rendered with 1, 2, 3 and 4 interreflections. These results suggest that lightness perception in complex centre-surround displays can be explained by the distribution of contrast across space and scale, independently of explicit information about surface shading or specularity. The results for surfaces without surface relief (“homogeneous” surfaces) differed qualitatively to rocky surfaces, exhibiting abrupt steps in perceived lightness at points at which the targets transitioned from being increments to decrements. Chapter 4 examined whether homogeneous displays evoke more complex mid-level representations similar to conditions of transparency. Matching target lightness in a homogeneous display to that in a textured or rocky display required varying both lightness and transmittance of the test patch on the textured display to obtain the most satisfactory matches. However, transmittance was only varied to match the contrast of targets against homogeneous surrounds, and not to explicitly match the amount of transparency perceived in the displays. The results suggest perceived target-surround edge contrast differs between homogeneous and textured displays. Varying the mid-level property of transparency in textured displays provides a natural means for equating both target lightness and the unique appearance of the edge contrast in homogeneous displays

The Computation of Surface Lightness in Simple and Complex Scenes

The present thesis examined how reflectance properties and the complexity of surface mesostructure (small-scale surface relief) influence perceived lightness in centresurround displays. Chapters 2 and 3 evaluated the role of surface relief, gloss, and interreflections on lightness constancy, which was examined across changes in background albedo and illumination level. For surfaces with visible mesostructure (“rocky” surfaces), lightness constancy across changes in background albedo was better for targets embedded in glossy versus matte surfaces. However, this improved lightness constancy for gloss was not observed when illumination varied. Control experiments compared the matte and glossy rocky surrounds to two control displays, which matched either pixel histograms or a phase-scrambled power spectrum. Lightness constancy was improved for rocky glossy displays over the histogram-matched displays, but not compared to phase-scrambled variants of these images with equated power spectrums. The results were similar for surfaces rendered with 1, 2, 3 and 4 interreflections. These results suggest that lightness perception in complex centre-surround displays can be explained by the distribution of contrast across space and scale, independently of explicit information about surface shading or specularity. The results for surfaces without surface relief (“homogeneous” surfaces) differed qualitatively to rocky surfaces, exhibiting abrupt steps in perceived lightness at points at which the targets transitioned from being increments to decrements. Chapter 4 examined whether homogeneous displays evoke more complex mid-level representations similar to conditions of transparency. Matching target lightness in a homogeneous display to that in a textured or rocky display required varying both lightness and transmittance of the test patch on the textured display to obtain the most satisfactory matches. However, transmittance was only varied to match the contrast of targets against homogeneous surrounds, and not to explicitly match the amount of transparency perceived in the displays. The results suggest perceived target-surround edge contrast differs between homogeneous and textured displays. Varying the mid-level property of transparency in textured displays provides a natural means for equating both target lightness and the unique appearance of the edge contrast in homogeneous displays

Measurement, modeling and perception of painted surfaces : A Multi-scale analysis of the touch-up problem

Real-world surfaces typically have geometric features at a range of spatial scales. At the microscale, opaque surfaces are often characterized by bidirectional reflectance distribution functions (BRDF), which describes how a surface scatters incident light. At the mesoscale, surfaces often exhibit visible texture - stochastic or patterned arrangements of geometric features that provide visual information about surface properties such as roughness, smoothness, softness, etc. These textures also affect how light is scattered by the surface, but the effects are at a different spatial scale than those captured by the BRDF. Through this research, we investigate how microscale and mesoscale surface properties interact to contribute to overall surface appearance. This behavior is also the cause of the well-known touch-up problem in the paint industry, where two regions coated with exactly the same paint, look different in color, gloss and/or texture because of differences in application methods. At first, samples were created by applying latex paint to standard wallboard surfaces. Two application methods- spraying and rolling were used. The BRDF and texture properties of the samples were measured, which revealed differences at both the microscale and mesoscale. This data was then used as input for a physically-based image synthesis algorithm, to generate realistic images of the surfaces under different viewing conditions. In order to understand the factors that govern touch-up visibility, psychophysical tests were conducted using calibrated, digital photographs of the samples as stimuli. Images were presented in pairs and a two alternative forced choice design was used for the experiments. These judgments were then used as data for a Thurstonian scaling analysis to produce psychophysical scales of visibility, which helped determine the effect of paint formulation, application methods, and viewing and illumination conditions on the touch-up problem. The results can be used as base data towards development of a psychophysical model that relates physical differences in paint formulation and application methods to visual differences in surface appearance

Investigation and Evaluation of Methods for Measuring Surface Texture on Worktops and Kitchen Fronts

In this Master Thesis different methods for measuring and evaluating surface textures have been investigated and evaluated. A method for digitizing textures called photometric stereo have also been studied. The purpose has been to find methods that can replace or supplement the current method of visual inspection used for surface texture studies by IKEA of Sweden. The suggested methods are going to be used by the company for securing that the surface textures on laminate worktops and pigment lacquered kitchen fronts are both consistent between different suppliers and matching the original reference sample. The thesis work has been written in three phases. First a background study of surface texture measurement methods has been carried out as well as a market research about what instruments are used for surface texture measurements. The next step has been an investigation of what problems IKEA is experiencing and finding the cause of these problems. This includes studies of the manufacturing process for laminates, the tools used for giving texture to laminates and how textures patterns are developed. The manufacturing process of the kitchen front has been also studied. In the last step the different methods have been tested and evaluated based on the needs of IKEA of Sweden

Character Surfacing and Feathering for UFO

This thesis focuses on the methods used to create the look of the unusual flying ostrich in UFO, a short, stylized film about an earthbound bird with his head in the clouds. That this aspiring aviator is not an ordinary ostrich is visibly indicated by his unusual markings, reflecting his unusual mindset that allows him to achieve the impossible. The techniques used to accomplish the final appearance of the unusual ostrich will be explored in this thesis, with a particular focus on the methods used to create and style the feathers, and the techniques used to hand paint the assorted markings on the character

Mathematical models for perceived roughness of three-dimensional surface textures

This thesis reports and discusses results from a new methodology for investigating the visually perceived properties of surfaces; by doing so, it also discovers a measurement or estimator for perceived roughness of 1/Fβ noise surfaces. Advanced computer graphics were used to model natural looking surfaces (1/Fβ noise surfaces). These were generated and animated in real-time to enable observers to manipulate dynamically the parameters of the rendered surfaces. A method of adjustment was then employed to investigate the effects of changing the parameters on perceived roughness. From psychophysical experiments, it was found that the two most important parameters related to perceived roughness were the magnitude roll-off factor (β) and RMS height (σ) for this kind of surfaces. From the results of various extra experiments, an estimation method for perceived roughness was developed; this was inspired by common frequency-channel models. The final optimized model or estimator for perceived roughness in 1/Fβ noise surfaces found was based on a FRF model. In this estimator, the first filter has a shape similar to a gaussian function and the RF part is a simple variance estimator. By comparing the results of the estimator with the observed data, it is possible to conclude that the estimator accurately represents perceived roughness for 1/Fβ noise surfaces

Effects of texture on color difference evaluation of surface color

The parametric effects of texture on supratheshold color tolerance thresholds were investigated in two psychophysical experiments using simulated textures presented on a CRT. Textured images were created from scanned photographs of physical texture samples with semi-random textured pattern. Differences in appearance were created by varying the illumination geometry during the image capture stage. Two conditions were simulated: diffuse illumination of a standard light booth and directional lighting which accentuates texture relief. In the first experiment observers matched average perceived lightness of grayscale textured images by adjusting the lightness of a uniform gray field. Images varied in their average L*. The results showed that, on average, there was no statistically significant difference between the observer match and the average L of the image. The only exception was found for darker images of coarse texture. In the second experiment, an array of color images was created from three texture patterns: one simulating diffuse lighting conditions and two simulating directional illumination. The CTELAB coordinates of the images were centered around the five CEE color centers recommended for color tolerance research. Color differences were varied in the lightness, chroma, and hue dimensions. Color tolerance thresholds were measured in each dimension for each texture type and uniform patches. An adaptive psychophysical technique, QUEST, was utilized to determine color tolerances in a greater than/less than task using test pairs in comparison to a fixed anchor pair of 1 unit AE*94. The results indicated that the presence of texture increases tolerance thresholds for hue irrespective of the texture pattern. The chroma dimension remained unaffected. Less conclusive results were found for lightness dimension with a strong trend toward increased tolerance thresholds for textured stimuli. When the different textures were compared, it was found that the L* thresholds were significantly higher for the images simulating directional lighting compared to the images of diffusely illuminated surface. No differences in tolerances for chroma and hue were found in that case