Hierarchical structure-and-motion recovery from uncalibrated images

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.Comment: Accepted for publication in CVI

Reconstruction of hidden 3D shapes using diffuse reflections

We analyze multi-bounce propagation of light in an unknown hidden volume and demonstrate that the reflected light contains sufficient information to recover the 3D structure of the hidden scene. We formulate the forward and inverse theory of secondary and tertiary scattering reflection using ideas from energy front propagation and tomography. We show that using careful choice of approximations, such as Fresnel approximation, greatly simplifies this problem and the inversion can be achieved via a backpropagation process. We provide a theoretical analysis of the invertibility, uniqueness and choices of space-time-angle dimensions using synthetic examples. We show that a 2D streak camera can be used to discover and reconstruct hidden geometry. Using a 1D high speed time of flight camera, we show that our method can be used recover 3D shapes of objects "around the corner"

A Novel Framework for Highlight Reflectance Transformation Imaging

We propose a novel pipeline and related software tools for processing the multi-light image collections (MLICs) acquired in different application contexts to obtain shape and appearance information of captured surfaces, as well as to derive compact relightable representations of them. Our pipeline extends the popular Highlight Reflectance Transformation Imaging (H-RTI) framework, which is widely used in the Cultural Heritage domain. We support, in particular, perspective camera modeling, per-pixel interpolated light direction estimation, as well as light normalization correcting vignetting and uneven non-directional illumination. Furthermore, we propose two novel easy-to-use software tools to simplify all processing steps. The tools, in addition to support easy processing and encoding of pixel data, implement a variety of visualizations, as well as multiple reflectance-model-fitting options. Experimental tests on synthetic and real-world MLICs demonstrate the usefulness of the novel algorithmic framework and the potential benefits of the proposed tools for end-user applications.Terms: "European Union (EU)" & "Horizon 2020" / Action: H2020-EU.3.6.3. - Reflective societies - cultural heritage and European identity / Acronym: Scan4Reco / Grant number: 665091DSURF project (PRIN 2015) funded by the Italian Ministry of University and ResearchSardinian Regional Authorities under projects VIGEC and Vis&VideoLa

Autocalibration with the Minimum Number of Cameras with Known Pixel Shape

In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the estimation of the camera parameters without using a calibration device, but by enforcing simple constraints on the camera parameters. In the absence of information about the internal camera parameters such as the focal length and the principal point, the knowledge of the camera pixel shape is usually the only available constraint. Given a projective reconstruction of a rigid scene, we address the problem of the autocalibration of a minimal set of cameras with known pixel shape and otherwise arbitrarily varying intrinsic and extrinsic parameters. We propose an algorithm that only requires 5 cameras (the theoretical minimum), thus halving the number of cameras required by previous algorithms based on the same constraint. To this purpose, we introduce as our basic geometric tool the six-line conic variety (SLCV), consisting in the set of planes intersecting six given lines of 3D space in points of a conic. We show that the set of solutions of the Euclidean upgrading problem for three cameras with known pixel shape can be parameterized in a computationally efficient way. This parameterization is then used to solve autocalibration from five or more cameras, reducing the three-dimensional search space to a two-dimensional one. We provide experiments with real images showing the good performance of the technique.Comment: 19 pages, 14 figures, 7 tables, J. Math. Imaging Vi

Creating virtual models from uncalibrated camera views

The reconstruction of photorealistic 3D models from camera views is becoming an ubiquitous element in many applications that simulate physical interaction with the real world. In this paper, we present a low-cost, interactive pipeline aimed at non-expert users, that achieves 3D reconstruction from multiple views acquired with a standard digital camera. 3D models are amenable to access through diverse representation modalities that typically imply trade-offs between level of detail, interaction, and computational costs. Our approach allows users to selectively control the complexity of different surface regions, while requiring only simple 2D image editing operations. An initial reconstruction at coarse resolution is followed by an iterative refining of the surface areas corresponding to the selected regions

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio

Light Field Super-Resolution Via Graph-Based Regularization

Light field cameras capture the 3D information in a scene with a single exposure. This special feature makes light field cameras very appealing for a variety of applications: from post-capture refocus, to depth estimation and image-based rendering. However, light field cameras suffer by design from strong limitations in their spatial resolution, which should therefore be augmented by computational methods. On the one hand, off-the-shelf single-frame and multi-frame super-resolution algorithms are not ideal for light field data, as they do not consider its particular structure. On the other hand, the few super-resolution algorithms explicitly tailored for light field data exhibit significant limitations, such as the need to estimate an explicit disparity map at each view. In this work we propose a new light field super-resolution algorithm meant to address these limitations. We adopt a multi-frame alike super-resolution approach, where the complementary information in the different light field views is used to augment the spatial resolution of the whole light field. We show that coupling the multi-frame approach with a graph regularizer, that enforces the light field structure via nonlocal self similarities, permits to avoid the costly and challenging disparity estimation step for all the views. Extensive experiments show that the new algorithm compares favorably to the other state-of-the-art methods for light field super-resolution, both in terms of PSNR and visual quality.Comment: This new version includes more material. In particular, we added: a new section on the computational complexity of the proposed algorithm, experimental comparisons with a CNN-based super-resolution algorithm, and new experiments on a third datase