article

Stereo and Specular Reflection

Authors:

Dinkar N. Bhat,

Shree K. NayarAuthors Info & Claims

International Journal of Computer Vision, Volume 26, Issue 2

Pages 91 - 106

https://doi.org/10.1023/A:1007940725322

Published: 01 February 1998 Publication History

Abstract

The problem of accurate depth estimation using stereo in the presence of specular reflection is addressed. Specular reflection, a fundamental and ubiquitous reflection mechanism, is viewpoint dependent and can cause large intensity differences at corresponding points, resulting in significant depth errors. We analyze the physics of specular reflection and the geometry of stereopsis which lead to a relationship between stereo vergence, surface roughness, and the likelihood of a correct match. Given a lower bound on surface roughness, an optimal binocular stereo configuration can be determined which maximizes precision in depth estimation despite specular reflection. However, surface roughness is difficult to estimate in unstructured environments. Therefore, trinocular configurations, independent of surface roughness are determined such that at each scene point visible to all sensors, at least one stereo pair can produce correct depth. We have developed a simple algorithm to reconstruct depth from the multiple stereo pairs.

References

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Blake, A. 1985. Specular stereo. In Proc. of the Ninth International Joint Conference on Artificial Intelligence, pp. 973-976.

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Torrance, K.E. and Sparrow, E.M. 1967. Theory for off-specular reflection from roughened surfaces. Journal of the Optical Society of America, 57:1105-1114.

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Cited By

Berger KVoorhies RMatthies L(2017)Depth from stereo polarization in specular scenes for urban robotics2017 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2017.7989227(1966-1973)Online publication date: 29-May-2017
https://dl.acm.org/doi/10.1109/ICRA.2017.7989227
Kopf JLangguth FScharstein DSzeliski RGoesele M(2013)Image-based rendering in the gradient domainACM Transactions on Graphics10.1145/2508363.250836932:6(1-9)Online publication date: 1-Nov-2013
https://dl.acm.org/doi/10.1145/2508363.2508369
Aubreton OBajard AVerney BTruchetet F(2013)Infrared system for 3D scanning of metallic surfacesMachine Vision and Applications10.1007/s00138-013-0487-z24:7(1513-1524)Online publication date: 1-Oct-2013
https://dl.acm.org/doi/10.1007/s00138-013-0487-z
Show More Cited By

Index Terms

Stereo and Specular Reflection
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision problems
      2. Computer vision tasks
        Scene understanding
  2. Computer graphics
    1. Rendering
      1. Reflectance modeling
2. Mathematics of computing
  1. Mathematical software

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Information

Published In

cover image International Journal of Computer Vision

International Journal of Computer Vision Volume 26, Issue 2

Feb. 1998

72 pages

ISSN:0920-5691

Editors:
Takeo Kanade
Carnegie Mellon Univ., Pittsburgh, PA
,
Olivier Faugeras
INRIA

Issue’s Table of Contents

Copyright © Copyright © 1998 Kluwer Academic Publishers.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 February 1998

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Cited By

Berger KVoorhies RMatthies L(2017)Depth from stereo polarization in specular scenes for urban robotics2017 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2017.7989227(1966-1973)Online publication date: 29-May-2017
https://dl.acm.org/doi/10.1109/ICRA.2017.7989227
Kopf JLangguth FScharstein DSzeliski RGoesele M(2013)Image-based rendering in the gradient domainACM Transactions on Graphics10.1145/2508363.250836932:6(1-9)Online publication date: 1-Nov-2013
https://dl.acm.org/doi/10.1145/2508363.2508369
Aubreton OBajard AVerney BTruchetet F(2013)Infrared system for 3D scanning of metallic surfacesMachine Vision and Applications10.1007/s00138-013-0487-z24:7(1513-1524)Online publication date: 1-Oct-2013
https://dl.acm.org/doi/10.1007/s00138-013-0487-z
Sinha SKopf JGoesele MScharstein DSzeliski R(2012)Image-based rendering for scenes with reflectionsACM Transactions on Graphics10.1145/2185520.218559631:4(1-10)Online publication date: 1-Jul-2012
https://dl.acm.org/doi/10.1145/2185520.2185596
Yoon KPrados ESturm P(2010)Joint Estimation of Shape and Reflectance using Multiple Images with Known Illumination ConditionsInternational Journal of Computer Vision10.1007/s11263-009-0222-486:2-3(192-210)Online publication date: 1-Jan-2010
https://dl.acm.org/doi/10.1007/s11263-009-0222-4
Wöhler CD'Angelo P(2009)Stereo Image Analysis of Non-Lambertian SurfacesInternational Journal of Computer Vision10.1007/s11263-008-0157-181:2(172-190)Online publication date: 1-Feb-2009
https://dl.acm.org/doi/10.1007/s11263-008-0157-1
Zickler TMallick SKriegman DBelhumeur P(2008)Color Subspaces as Photometric InvariantsInternational Journal of Computer Vision10.1007/s11263-007-0087-379:1(13-30)Online publication date: 1-Aug-2008
https://dl.acm.org/doi/10.1007/s11263-007-0087-3
García-Chamizo JFuster-Guilló AAzorín-López J(2007)Simulation of automated visual inspection systems for specular surfaces quality controlProceedings of the 2nd Pacific Rim conference on Advances in image and video technology10.5555/1782074.1782144(749-762)Online publication date: 17-Dec-2007
https://dl.acm.org/doi/10.5555/1782074.1782144
Yu TXu NAhuja N(2007)Shape and View Independent Reflectance Map from Multiple ViewsInternational Journal of Computer Vision10.1007/s11263-006-9373-873:2(123-138)Online publication date: 21-Jun-2007
https://dl.acm.org/doi/10.1007/s11263-006-9373-8
García-Chamizo JFuster-Guilló AAzorín-López J(2007)Simulation of Automated Visual Inspection Systems for Specular Surfaces Quality ControlAdvances in Image and Video Technology10.1007/978-3-540-77129-6_64(749-762)Online publication date: 17-Dec-2007
https://dl.acm.org/doi/10.1007/978-3-540-77129-6_64
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