Determining a Depth Map Using a Dual Photometric Stereo
Determining a Depth Map Using a Dual Photometric Stereo
复制标题
使用双光度立体确定深度图
DOI：
10.1177/027836498700600102
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发表时间：
1987
期刊：
影响因子：
--
通讯作者：
K. Ikeuchi
中科院分区：
文献类型：
--
作者：
K. Ikeuchi
本文描述了一种从双光度立体获得的一对表面定向图中确定深度图的方法。光度立体系统根据阴影信息，在不同光照条件下从同一位置拍摄三幅图像，从而确定表面方向。光度立体系统可以非常迅速地确定地雷表面的方向，但不能确定绝对深度值。本文提出了一种双光度计立体系统来获取绝对深度值。双光度立体产生一对表面定向图。然后，表面取向图可以被分割成相对于表面取向的孤立区域，使用一个测地线圆顶来分组表面取向。将得到的左右区域与成对对应的区域进行比较。下面三种约束将被用来有效地搜索相应的区域：表面方向约束、面积约束和极面约束。区域匹配是迭代完成的，使用父-子约束，从粗糙的分割结果开始，到精细的分割结果。区域对质心位置的水平差决定了在该区域对上成像的物理表面斑块的绝对深度值。这个系统在Lisp机器上只需要几分钟就能确定复杂场景中的绝对深度图，可以用作垃圾箱拾取系统的输入设备。
This paper describes a method for determining a depth map from a pair of surface-orientation maps obtained by a dual photometric stereo. A photometric stereo system determines surface orientations by taking three images from the same position under different lighting conditions, based on the shading information. A photometric stereo system can deter mine surface orientations very rapidly, but cannot determine absolute depth values. This paper proposes a dual photomet ric stereo system to obtain absolute depth values. A dual photometric stereo generates a pair of surface-ori entation maps. Then, the surface-orientation maps can be segmented into isolated regions with respect to surface orien tations, using a geodesic dome for grouping surface orienta tions. The resulting left and right regions are compared to pair corresponding regions. The following three kinds of constraints will be used to search for corresponding regions efficiently: a surface-orientation constraint, an area con straint, and an epipolar constraint. Region matching is done iteratively, starting from a coarse segmented result and pro ceeding to a fine segmented result, using a parent-children constraint. The horizontal difference in the position of the center of mass of a region pair determines the absolute depth value for the physical surface patch imaged onto that pair. This system takes only a few minutes on a Lisp machine to determine an absolute depth map in complicated scenes and could be used as an input device for a bin-picking system.