Disparity map generation based on trapezoidal camera architecture for multiview video

Visual content acquisition is a strategic functional block of any visual system. Despite its wide possibilities, the arrangement of cameras for the acquisition of good quality visual content for use in multi-view video remains a huge challenge. This paper presents the mathematical description of trapezoidal camera architecture and relationships which facilitate the determination of camera position for visual content acquisition in multi-view video, and depth map generation. The strong point of Trapezoidal Camera Architecture is that it allows for adaptive camera topology by which points within the scene, especially the occluded ones can be optically and geometrically viewed from several different viewpoints either on the edge of the trapezoid or inside it. The concept of maximum independent set, trapezoid characteristics, and the fact that the positions of cameras (with the exception of few) differ in their vertical coordinate description could very well be used to address the issue of occlusion which continues to be a major problem in computer vision with regards to the generation of depth map

The Impact of Surface Normals on Appearance

The appearance of an object is the result of complex light interaction with the object. Beyond the basic interplay between incident light and the object\u27s material, a multitude of physical events occur between this illumination and the microgeometry at the point of incidence, and also beneath the surface. A given object, made as smooth and opaque as possible, will have a completely different appearance if either one of these attributes - amount of surface mesostructure (small-scale surface orientation) or translucency - is altered. Indeed, while they are not always readily perceptible, the small-scale features of an object are as important to its appearance as its material properties. Moreover, surface mesostructure and translucency are inextricably linked in an overall effect on appearance. In this dissertation, we present several studies examining the importance of surface mesostructure (small-scale surface orientation) and translucency on an object\u27s appearance. First, we present an empirical study that establishes how poorly a mesostructure estimation technique can perform when translucent objects are used as input. We investigate the two major factors in determining an object\u27s translucency: mean free path and scattering albedo. We exhaustively vary the settings of these parameters within realistic bounds, examining the subsequent blurring effect on the output of a common shape estimation technique, photometric stereo. Based on our findings, we identify a dramatic effect that the input of a translucent material has on the quality of the resultant estimated mesostructure. In the next project, we discuss an optimization technique for both refining estimated surface orientation of translucent objects and determining the reflectance characteristics of the underlying material. For a globally planar object, we use simulation and real measurements to show that the blurring effect on normals that was observed in the previous study can be recovered. The key to this is the observation that the normalization factor for recovered normals is proportional to the error on the accuracy of the blur kernel created from estimated translucency parameters. Finally, we frame the study of the impact of surface normals in a practical, image-based context. We discuss our low-overhead, editing tool for natural images that enables the user to edit surface mesostructure while the system automatically updates the appearance in the natural image. Because a single photograph captures an instant of the incredibly complex interaction of light and an object, there is a wealth of information to extract from a photograph. Given a photograph of an object in natural lighting, we allow mesostructure edits and infer any missing reflectance information in a realistically plausible way

A Practical Stereo Depth System for Smart Glasses

We present the design of a productionized end-to-end stereo depth sensing system that does pre-processing, online stereo rectification, and stereo depth estimation with a fallback to monocular depth estimation when rectification is unreliable. The output of our depth sensing system is then used in a novel view generation pipeline to create 3D computational photography effects using point-of-view images captured by smart glasses. All these steps are executed on-device on the stringent compute budget of a mobile phone, and because we expect the users can use a wide range of smartphones, our design needs to be general and cannot be dependent on a particular hardware or ML accelerator such as a smartphone GPU. Although each of these steps is well studied, a description of a practical system is still lacking. For such a system, all these steps need to work in tandem with one another and fallback gracefully on failures within the system or less than ideal input data. We show how we handle unforeseen changes to calibration, e.g., due to heat, robustly support depth estimation in the wild, and still abide by the memory and latency constraints required for a smooth user experience. We show that our trained models are fast, and run in less than 1s on a six-year-old Samsung Galaxy S8 phone's CPU. Our models generalize well to unseen data and achieve good results on Middlebury and in-the-wild images captured from the smart glasses.Comment: Accepted at CVPR202

Robotic Manipulation under Transparency and Translucency from Light-field Sensing

From frosted windows to plastic containers to refractive fluids, transparency and translucency are prevalent in human environments. The material properties of translucent objects challenge many of our assumptions in robotic perception. For example, the most common RGB-D sensors require the sensing of an infrared structured pattern from a Lambertian reflectance of surfaces. As such, transparent and translucent objects often remain invisible to robot perception. Thus, introducing methods that would enable robots to correctly perceive and then interact with the environment would be highly beneficial. Light-field (or plenoptic) cameras, for instance, which carry light direction and intensity, make it possible to perceive visual clues on transparent and translucent objects. In this dissertation, we explore the inference of transparent and translucent objects from plenoptic observations for robotic perception and manipulation. We propose a novel plenoptic descriptor, Depth Likelihood Volume (DLV), that incorporates plenoptic observations to represent depth of a pixel as a distribution rather than a single value. Building on the DLV, we present the Plenoptic Monte Carlo Localization algorithm, PMCL, as a generative method to infer 6-DoF poses of objects in settings with translucency. PMCL is able to localize both isolated transparent objects and opaque objects behind translucent objects using a DLV computed from a single view plenoptic observation. The uncertainty induced by transparency and translucency for pose estimation increases greatly as scenes become more cluttered. Under this scenario, we propose GlassLoc to localize feasible grasp poses directly from local DLV features. In GlassLoc, a convolutional neural network is introduced to learn DLV features for classifying grasp poses with grasping confidence. GlassLoc also suppresses the reflectance over multi-view plenoptic observations, which leads to more stable DLV representation. We evaluate GlassLoc in the context of a pick-and-place task for transparent tableware in a cluttered tabletop environment. We further observe that the transparent and translucent objects will generate distinguishable features in the light-field epipolar image plane. With this insight, we propose Light-field Inference of Transparency, LIT, as a two-stage generative-discriminative refractive object localization approach. In the discriminative stage, LIT uses convolutional neural networks to learn reflection and distortion features from photorealistic-rendered light-field images. The learned features guide generative object location inference through local depth estimation and particle optimization. We compare LIT with four state-of-the-art pose estimators to show our efficacy in the transparent object localization task. We perform a robot demonstration by building a champagne tower using the LIT pipeline.PHDRoboticsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/169707/1/zhezhou_1.pd

Material Recognition Meets 3D Reconstruction : Novel Tools for Efficient, Automatic Acquisition Systems

For decades, the accurate acquisition of geometry and reflectance properties has represented one of the major objectives in computer vision and computer graphics with many applications in industry, entertainment and cultural heritage. Reproducing even the finest details of surface geometry and surface reflectance has become a ubiquitous prerequisite in visual prototyping, advertisement or digital preservation of objects. However, today's acquisition methods are typically designed for only a rather small range of material types. Furthermore, there is still a lack of accurate reconstruction methods for objects with a more complex surface reflectance behavior beyond diffuse reflectance. In addition to accurate acquisition techniques, the demand for creating large quantities of digital contents also pushes the focus towards fully automatic and highly efficient solutions that allow for masses of objects to be acquired as fast as possible. This thesis is dedicated to the investigation of basic components that allow an efficient, automatic acquisition process. We argue that such an efficient, automatic acquisition can be realized when material recognition "meets" 3D reconstruction and we will demonstrate that reliably recognizing the materials of the considered object allows a more efficient geometry acquisition. Therefore, the main objectives of this thesis are given by the development of novel, robust geometry acquisition techniques for surface materials beyond diffuse surface reflectance, and the development of novel, robust techniques for material recognition. In the context of 3D geometry acquisition, we introduce an improvement of structured light systems, which are capable of robustly acquiring objects ranging from diffuse surface reflectance to even specular surface reflectance with a sufficient diffuse component. We demonstrate that the resolution of the reconstruction can be increased significantly for multi-camera, multi-projector structured light systems by using overlappings of patterns that have been projected under different projector poses. As the reconstructions obtained by applying such triangulation-based techniques still contain high-frequency noise due to inaccurately localized correspondences established for images acquired under different viewpoints, we furthermore introduce a novel geometry acquisition technique that complements the structured light system with additional photometric normals and results in significantly more accurate reconstructions. In addition, we also present a novel method to acquire the 3D shape of mirroring objects with complex surface geometry. The aforementioned investigations on 3D reconstruction are accompanied by the development of novel tools for reliable material recognition which can be used in an initial step to recognize the present surface materials and, hence, to efficiently select the subsequently applied appropriate acquisition techniques based on these classified materials. In the scope of this thesis, we therefore focus on material recognition for scenarios with controlled illumination as given in lab environments as well as scenarios with natural illumination that are given in photographs of typical daily life scenes. Finally, based on the techniques developed in this thesis, we provide novel concepts towards efficient, automatic acquisition systems

A Real-time Method for Inserting Virtual Objects into Neural Radiance Fields

We present the first real-time method for inserting a rigid virtual object into a neural radiance field, which produces realistic lighting and shadowing effects, as well as allows interactive manipulation of the object. By exploiting the rich information about lighting and geometry in a NeRF, our method overcomes several challenges of object insertion in augmented reality. For lighting estimation, we produce accurate, robust and 3D spatially-varying incident lighting that combines the near-field lighting from NeRF and an environment lighting to account for sources not covered by the NeRF. For occlusion, we blend the rendered virtual object with the background scene using an opacity map integrated from the NeRF. For shadows, with a precomputed field of spherical signed distance field, we query the visibility term for any point around the virtual object, and cast soft, detailed shadows onto 3D surfaces. Compared with state-of-the-art techniques, our approach can insert virtual object into scenes with superior fidelity, and has a great potential to be further applied to augmented reality systems

Intuitive and Accurate Material Appearance Design and Editing

Creating and editing high-quality materials for photorealistic rendering can be a difficult task due to the diversity and complexity of material appearance. Material design is the process by which artists specify the reflectance properties of a surface, such as its diffuse color and specular roughness. Even with the support of commercial software packages, material design can be a time-consuming trial-and-error task due to the counter-intuitive nature of the complex reflectance models. Moreover, many material design tasks require the physical realization of virtually designed materials as the final step, which makes the process even more challenging due to rendering artifacts and the limitations of fabrication. In this dissertation, we propose a series of studies and novel techniques to improve the intuitiveness and accuracy of material design and editing. Our goal is to understand how humans visually perceive materials, simplify user interaction in the design process and, and improve the accuracy of the physical fabrication of designs. Our first work focuses on understanding the perceptual dimensions for measured material data. We build a perceptual space based on a low-dimensional reflectance manifold that is computed from crowd-sourced data using a multi-dimensional scaling model. Our analysis shows the proposed perceptual space is consistent with the physical interpretation of the measured data. We also put forward a new material editing interface that takes advantage of the proposed perceptual space. We visualize each dimension of the manifold to help users understand how it changes the material appearance. Our second work investigates the relationship between translucency and glossiness in material perception. We conduct two human subject studies to test if subsurface scattering impacts gloss perception and examine how the shape of an object influences this perception. Based on our results, we discuss why it is necessary to include transparent and translucent media for future research in gloss perception and material design. Our third work addresses user interaction in the material design system. We present a novel Augmented Reality (AR) material design prototype, which allows users to visualize their designs against a real environment and lighting. We believe introducing AR technology can make the design process more intuitive and improve the authenticity of the results for both novice and experienced users. To test this assumption, we conduct a user study to compare our prototype with the traditional material design system with gray-scale background and synthetic lighting. The results demonstrate that with the help of AR techniques, users perform better in terms of objectively measured accuracy and time and they are subjectively more satisfied with their results. Finally, our last work turns to the challenge presented by the physical realization of designed materials. We propose a learning-based solution to map the virtually designed appearance to a meso-scale geometry that can be easily fabricated. Essentially, this is a fitting problem, but compared with previous solutions, our method can provide the fabrication recipe with higher reconstruction accuracy for a large fitting gamut. We demonstrate the efficacy of our solution by comparing the reconstructions with existing solutions and comparing fabrication results with the original design. We also provide an application of bi-scale material editing using the proposed method