Three-dimensional shape and source location from depth and reflectance

Todd A. Mancini; Lawrence B. Wolff

doi:10.1117/12.57971

1 March 1992 Three-dimensional shape and source location from depth and reflectance

Todd A. Mancini, Lawrence B. Wolff

Proceedings Volume 1614, Optics, Illumination, and Image Sensing for Machine Vision VI; (1992) https://doi.org/10.1117/12.57971
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

We introduce a novel methodology for accurate determination of surface normals and light source location from depth and reflectance data. Estimation of local surface orientation using depth data alone from range finders with standard depth errors can produce significant error. On the other hand, shape-from-shading using reflectance data alone produces approximate surface orientation results that are highly dependent upon just the right initial surface orientation estimates as well as regularization parameters. Combining these two sources of information gives vastly more accurate surface orientation estimates under general conditions than either one alone, even when the light source location is not initially known. Apart from increased knowledge of local orientation, this also can provide better knowledge of local curvature. We propose novel iterative methods which enforce satisfaction of the image irradiance equation and surface integrability without using regularization. These iterative methods work in the case where the light source is any finite distance from the object producing variable incident light orientation over the object. These are realistic machine vision conditions in a laboratory setting.

Citation Download Citation

Todd A. Mancini and Lawrence B. Wolff "Three-dimensional shape and source location from depth and reflectance", Proc. SPIE 1614, Optics, Illumination, and Image Sensing for Machine Vision VI, (1 March 1992); https://doi.org/10.1117/12.57971

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