1. Part One:
Acquisition of 3-D Data
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2. Representation of 3D data
Chapter 2: Shape-from-Shading
Representation of 3D data
3-D data clouds
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3. Representation of 3D data
Chapter 2: Shape-from-Shading
Representation of 3D data
range images
image format
shaded image
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4. Representation of 3D data
Chapter 2: Shape-from-Shading
Representation of 3D data
needle maps (2-1/2D data)
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5. Approaches to 3D Data Sensing
Chapter 2: Shape-from-Shading
Approaches to 3D Data Sensing
Numbers of data:
one-point sensing
dense data sensing Sensing methods:
touching sensing
non-touching ranging
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6. Approaches to 3D Data Sensing
Chapter 2: Shape-from-Shading
Approaches to 3D Data Sensing
Touching probe
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7. Chapter 2: Shape-from-Shading
Non-Touching Methods
Passive methods: shading and texture analysis stereo cameras motion analysis lens focusing
Active methods: photometric stereo structured lights radar sensing
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8. Recovery of 3-D Features from Intensity Images --- Shape-from-Shading
Chapter Two:
Recovery of 3-D Features from Intensity Images
--- Shape-from-Shading
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9. 3D Sensing from Image Intensity
Chapter 2: Shape-from-Shading
3D Sensing from Image Intensity
A sphere under lighting:
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10. Processes in Image Formation
Chapter 2: Shape-from-Shading
Processes in Image Formation
Three important factors:
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11. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Lighting conditions:
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12. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Reflectance conditions:
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13. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Relationships of the factors:
object surfaces
lighting
camera
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14. Chapter 2: Shape-from-Shading
Main Topics
Radiometry for image formation bidirectional reflectance distribution function (BRDF)
Reflectance Maps
3-D feature recovery photometric stereo method characteristics curve method
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15. Irradiance and Radiance
Chapter 2: Shape-from-Shading
Irradiance and Radiance
irradiance
radiance
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16. Solid Angles solid angle defined by a unit circle
Chapter 2: Shape-from-Shading
Solid Angles
solid angle defined
by a unit circle
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17. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Relationships of the factors:
object surfaces
lighting
camera
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18. Irradiance of Object Surfaces
Chapter 2: Shape-from-Shading
Irradiance of Object Surfaces
lighting source
to object surface
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19. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Relationships of the factors:
object surfaces
lighting
camera
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20. Coordinates for Defining BRDF
Chapter 2: Shape-from-Shading
Coordinates for Defining BRDF
coordinate system for incident and emitted light
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21. Definition of BRDF incident and emitted light
Chapter 2: Shape-from-Shading
Definition of BRDF
incident and emitted light
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22. Lambertian Reflectance
Chapter 2: Shape-from-Shading
Lambertian Reflectance
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23. Chapter 2: Shape-from-Shading
Specular Reflectance
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24. Important Factors for Imaging
Chapter 2: Shape-from-Shading
Important Factors for Imaging
Relationships of the factors:
object surfaces
lighting
camera
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25. Image Formation object surface to image plane
Chapter 2: Shape-from-Shading
Image Formation
object surface to image plane
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26. Gradient Space camera-centered coordinate systems
Chapter 2: Shape-from-Shading
Gradient Space
camera-centered coordinate systems
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27. Gradient Space surface normals Chapter 2: Shape-from-Shading 2019/1/2
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28. Chapter 2: Shape-from-Shading
Reflectance Maps
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29. Derivation of Gradients
Chapter 2: Shape-from-Shading
Derivation of Gradients
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30. Photometric Stereo Method
Chapter 2: Shape-from-Shading
Photometric Stereo Method
three sources
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31. Photometric Stereo Method
Chapter 2: Shape-from-Shading
Photometric Stereo Method
three sources
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32. Chapter 2: Shape-from-Shading
Look-Up Tables
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33. An Example image needle map Chapter 2: Shape-from-Shading 2019/1/2
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34. Characteristic Curve Method
Chapter 2: Shape-from-Shading
Characteristic Curve Method
Basic algorithm
reflectance map
image
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35. An Example recovered shape image Chapter 2: Shape-from-Shading
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