7,479 research outputs found
ActiveStereoNet: End-to-End Self-Supervised Learning for Active Stereo Systems
In this paper we present ActiveStereoNet, the first deep learning solution
for active stereo systems. Due to the lack of ground truth, our method is fully
self-supervised, yet it produces precise depth with a subpixel precision of
of a pixel; it does not suffer from the common over-smoothing issues;
it preserves the edges; and it explicitly handles occlusions. We introduce a
novel reconstruction loss that is more robust to noise and texture-less
patches, and is invariant to illumination changes. The proposed loss is
optimized using a window-based cost aggregation with an adaptive support weight
scheme. This cost aggregation is edge-preserving and smooths the loss function,
which is key to allow the network to reach compelling results. Finally we show
how the task of predicting invalid regions, such as occlusions, can be trained
end-to-end without ground-truth. This component is crucial to reduce blur and
particularly improves predictions along depth discontinuities. Extensive
quantitatively and qualitatively evaluations on real and synthetic data
demonstrate state of the art results in many challenging scenes.Comment: Accepted by ECCV2018, Oral Presentation, Main paper + Supplementary
Material
Stereo and ToF Data Fusion by Learning from Synthetic Data
Time-of-Flight (ToF) sensors and stereo vision systems are both capable of acquiring depth information but they have complementary characteristics and issues. A more accurate representation of the scene geometry can be obtained by fusing the two depth sources. In this paper we present a novel framework for data fusion where the contribution of the two depth sources is controlled by confidence measures that are jointly estimated using a Convolutional Neural Network. The two depth sources are fused enforcing the local consistency of depth data, taking into account the estimated confidence information. The deep network is trained using a synthetic dataset and we show how the classifier is able to generalize to different data, obtaining reliable estimations not only on synthetic data but also on real world scenes. Experimental results show that the proposed approach increases the accuracy of the depth estimation on both synthetic and real data and that it is able to outperform state-of-the-art methods
Height from Photometric Ratio with Model-based Light Source Selection
In this paper, we present a photometric stereo algorithm for estimating surface height. We follow recent work that uses photometric ratios to obtain a linear formulation relating surface gradients and image intensity. Using smoothed finite difference approximations for the surface gradient, we are able to express surface height recovery as a linear least squares problem that is large but sparse. In order to make the method practically useful, we combine it with a model-based approach that excludes observations which deviate from the assumptions made by the image formation model. Despite its simplicity, we show that our algorithm provides surface height estimates of a high quality even for objects with highly non-Lambertian appearance. We evaluate the method on both synthetic images with ground truth and challenging real images that contain strong specular reflections and cast shadows
Cavlectometry: Towards Holistic Reconstruction of Large Mirror Objects
We introduce a method based on the deflectometry principle for the
reconstruction of specular objects exhibiting significant size and geometric
complexity. A key feature of our approach is the deployment of an Automatic
Virtual Environment (CAVE) as pattern generator. To unfold the full power of
this extraordinary experimental setup, an optical encoding scheme is developed
which accounts for the distinctive topology of the CAVE. Furthermore, we devise
an algorithm for detecting the object of interest in raw deflectometric images.
The segmented foreground is used for single-view reconstruction, the background
for estimation of the camera pose, necessary for calibrating the sensor system.
Experiments suggest a significant gain of coverage in single measurements
compared to previous methods. To facilitate research on specular surface
reconstruction, we will make our data set publicly available
Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect
Recently, the new Kinect One has been issued by Microsoft, providing the next
generation of real-time range sensing devices based on the Time-of-Flight (ToF)
principle. As the first Kinect version was using a structured light approach,
one would expect various differences in the characteristics of the range data
delivered by both devices. This paper presents a detailed and in-depth
comparison between both devices. In order to conduct the comparison, we propose
a framework of seven different experimental setups, which is a generic basis
for evaluating range cameras such as Kinect. The experiments have been designed
with the goal to capture individual effects of the Kinect devices as isolatedly
as possible and in a way, that they can also be adopted, in order to apply them
to any other range sensing device. The overall goal of this paper is to provide
a solid insight into the pros and cons of either device. Thus, scientists that
are interested in using Kinect range sensing cameras in their specific
application scenario can directly assess the expected, specific benefits and
potential problem of either device.Comment: 58 pages, 23 figures. Accepted for publication in Computer Vision and
Image Understanding (CVIU
Full Reference Objective Quality Assessment for Reconstructed Background Images
With an increased interest in applications that require a clean background
image, such as video surveillance, object tracking, street view imaging and
location-based services on web-based maps, multiple algorithms have been
developed to reconstruct a background image from cluttered scenes.
Traditionally, statistical measures and existing image quality techniques have
been applied for evaluating the quality of the reconstructed background images.
Though these quality assessment methods have been widely used in the past,
their performance in evaluating the perceived quality of the reconstructed
background image has not been verified. In this work, we discuss the
shortcomings in existing metrics and propose a full reference Reconstructed
Background image Quality Index (RBQI) that combines color and structural
information at multiple scales using a probability summation model to predict
the perceived quality in the reconstructed background image given a reference
image. To compare the performance of the proposed quality index with existing
image quality assessment measures, we construct two different datasets
consisting of reconstructed background images and corresponding subjective
scores. The quality assessment measures are evaluated by correlating their
objective scores with human subjective ratings. The correlation results show
that the proposed RBQI outperforms all the existing approaches. Additionally,
the constructed datasets and the corresponding subjective scores provide a
benchmark to evaluate the performance of future metrics that are developed to
evaluate the perceived quality of reconstructed background images.Comment: Associated source code: https://github.com/ashrotre/RBQI, Associated
Database:
https://drive.google.com/drive/folders/1bg8YRPIBcxpKIF9BIPisULPBPcA5x-Bk?usp=sharing
(Email for permissions at: ashrotreasuedu
- …