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

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Improved GelSight Tactile Sensor for Measuring Geometry and Slip

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor, based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in measuring surface normals and reconstructing height maps using photometric stereo. We also use it for the task of slip detection, using a combination of information about relative motions on the membrane surface and the shear distortions. Using a robotic arm and a set of 37 everyday objects with varied properties, we find that the sensor can detect translational and rotational slip in general cases, and can be used to improve the stability of the grasp.Comment: IEEE/RSJ International Conference on Intelligent Robots and System

Three-dimensional scanning of specular and diffuse metallic surfaces using an infrared technique

For the past two decades, the need for three-dimensional (3-D) scanning of industrial objects has increased significantly and many experimental techniques and commercial solutions have been proposed. However, difficulties remain for the acquisition of optically non-cooperative surfaces, such as transparent or specular surfaces. To address highly reflective metallic surfaces, we propose the extension of a technique that was originally dedicated to glass objects. In contrast to conventional active triangulation techniques that measure the reflection of visible radiation, we measure the thermal emission of a surface, which is locally heated by a laser source. Considering the thermophysical properties of metals, we present a simulation model of heat exchanges that are induced by the process, helping to demonstrate its feasibility on specular metallic surfaces and predicting the settings of the system. With our experimental device, we have validated the theoretical modeling and computed some 3-D point clouds from specular surfaces of various geometries. Furthermore, a comparison of our results with those of a conventional system on specular and diffuse parts will highlight that the accuracy of the measurement no longer depends on the roughness of the surface

Detection and localization of specular surfaces using image motion cues

Cataloged from PDF version of article.Successful identification of specularities in an image can be crucial for an artificial vision system when extracting the semantic content of an image or while interacting with the environment. We developed an algorithm that relies on scale and rotation invariant feature extraction techniques and uses motion cues to detect and localize specular surfaces. Appearance change in feature vectors is used to quantify the appearance distortion on specular surfaces, which has previously been shown to be a powerful indicator for specularity (Doerschner et al. in Curr Biol, 2011). The algorithm combines epipolar deviations (Swaminathan et al. in Lect Notes Comput Sci 2350:508-523, 2002) and appearance distortion, and succeeds in localizing specular objects in computer-rendered and real scenes, across a wide range of camera motions and speeds, object sizes and shapes, and performs well under image noise and blur conditions. © 2014 Springer-Verlag Berlin Heidelberg

Measurement of electric fields in the ionosphere, volume 2 Final report, Aug. 1966 - Sep. 1967

Electric field meter, using electron beam deflection techniques, for ionospheric measurement

Levitated Spinning Graphene

A method is described for levitating micron-sized few layer graphene flakes in a quadrupole ion trap. Starting from a liquid suspension containing graphene, charged flakes are injected into the trap using the electrospray ionization technique and are probed optically. At micro-torr pressures, torques from circularly polarized light cause the levitated particles to rotate at frequencies >1 MHz, which can be inferred from modulation of light scattering off the rotating flake when an electric field resonant with the rotation rate is applied. Possible applications of these techniques will be presented, both to fundamental measurements of the mechanical and electronic properties of graphene and to new approaches to graphene crystal growth, modification and manipulation.Comment: 23 pages, 11 figure

Human visual cortical responses to specular and matte motion flows

Determining the compositional properties of surfaces in the environment is an important visual capacity. One such property is specular reflectance, which encompasses the range from matte to shiny surfaces. Visual estimation of specular reflectance can be informed by characteristic motion profiles; a surface with a specular reflectance that is difficult to determine while static can be confidently disambiguated when set in motion. Here, we used fMRI to trace the sensitivity of human visual cortex to such motion cues, both with and without photometric cues to specular reflectance. Participants viewed rotating blob-like objects that were rendered as images (photometric) or dots (kinematic) with either matte-consistent or shiny-consistent specular reflectance profiles. We were unable to identify any areas in low and mid-level human visual cortex that responded preferentially to surface specular reflectance from motion. However, univariate and multivariate analyses identified several visual areas; V1, V2, V3, V3A/B, and hMT+, capable of differentiating shiny from matte surface flows. These results indicate that the machinery for extracting kinematic cues is present in human visual cortex, but the areas involved in integrating such information with the photometric cues necessary for surface specular reflectance remain unclear. © 2015 Kam, Mannion, Lee, Doerschner and Kersten

Bohmian mechanics, the quantum-classical correspondence and the classical limit: the case of the square billiard

Square billiards are quantum systems complying with the dynamical quantum-classical correspondence. Hence an initially localized wavefunction launched along a classical periodic orbit evolves along that orbit, the spreading of the quantum amplitude being controlled by the spread of the corresponding classical statistical distribution. We investigate wavepacket dynamics and compute the corresponding de Broglie-Bohm trajectories in the quantum square billiard. We also determine the trajectories and statistical distribution dynamics for the equivalent classical billiard. Individual Bohmian trajectories follow the streamlines of the probability flow and are generically non-classical. This can also hold even for short times, when the wavepacket is still localized along a classical trajectory. This generic feature of Bohmian trajectories is expected to hold in the classical limit. We further argue that in this context decoherence cannot constitute a viable solution in order to recover classicality.Comment: Figures downgraded to low resolution; To be published in Found. Phys. (2009)