12,003 research outputs found
Variational Uncalibrated Photometric Stereo under General Lighting
Photometric stereo (PS) techniques nowadays remain constrained to an ideal
laboratory setup where modeling and calibration of lighting is amenable. To
eliminate such restrictions, we propose an efficient principled variational
approach to uncalibrated PS under general illumination. To this end, the
Lambertian reflectance model is approximated through a spherical harmonic
expansion, which preserves the spatial invariance of the lighting. The joint
recovery of shape, reflectance and illumination is then formulated as a single
variational problem. There the shape estimation is carried out directly in
terms of the underlying perspective depth map, thus implicitly ensuring
integrability and bypassing the need for a subsequent normal integration. To
tackle the resulting nonconvex problem numerically, we undertake a two-phase
procedure to initialize a balloon-like perspective depth map, followed by a
"lagged" block coordinate descent scheme. The experiments validate efficiency
and robustness of this approach. Across a variety of evaluations, we are able
to reduce the mean angular error consistently by a factor of 2-3 compared to
the state-of-the-art.Comment: Haefner and Ye contributed equall
Recovering facial shape using a statistical model of surface normal direction
In this paper, we show how a statistical model of facial shape can be embedded within a shape-from-shading algorithm. We describe how facial shape can be captured using a statistical model of variations in surface normal direction. To construct this model, we make use of the azimuthal equidistant projection to map the distribution of surface normals from the polar representation on a unit sphere to Cartesian points on a local tangent plane. The distribution of surface normal directions is captured using the covariance matrix for the projected point positions. The eigenvectors of the covariance matrix define the modes of shape-variation in the fields of transformed surface normals. We show how this model can be trained using surface normal data acquired from range images and how to fit the model to intensity images of faces using constraints on the surface normal direction provided by Lambert's law. We demonstrate that the combination of a global statistical constraint and local irradiance constraint yields an efficient and accurate approach to facial shape recovery and is capable of recovering fine local surface details. We assess the accuracy of the technique on a variety of images with ground truth and real-world images
Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators
Robust velocity and position estimation is crucial for autonomous robot
navigation. The optical flow based methods for autonomous navigation have been
receiving increasing attentions in tandem with the development of micro
unmanned aerial vehicles. This paper proposes a kernel cross-correlator (KCC)
based algorithm to determine optical flow using a monocular camera, which is
named as correlation flow (CF). Correlation flow is able to provide reliable
and accurate velocity estimation and is robust to motion blur. In addition, it
can also estimate the altitude velocity and yaw rate, which are not available
by traditional methods. Autonomous flight tests on a quadcopter show that
correlation flow can provide robust trajectory estimation with very low
processing power. The source codes are released based on the ROS framework.Comment: 2018 International Conference on Robotics and Automation (ICRA 2018
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