Towards Globally Optimal full 3D reconstruction of scenes with complex reflectance using Helmholtz Stereopsis
Towards Globally Optimal full 3D reconstruction of scenes with complex reflectance using Helmholtz Stereopsis
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DOI：
10.1145/3359998.3369410
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发表时间：
2019-12
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影响因子：
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通讯作者：
Gianmarco Addari;Jean-Yves Guillemaut
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文献类型：
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作者：
Gianmarco Addari;Jean-Yves Guillemaut
许多三维重建技术都是基于物体表面反射率的先验知识的假设，这严重限制了可以重建的场景范围。相比之下，Helmholtz Stereopsis（HS）采用Helmholtz互易性来计算场景几何形状，而不管其双向反射分布函数（BRDF）。尽管有这个优势，大多数HS的实现迄今为止已被限制在2.5D重建，与几个扩展到全3D一般限于局部细化由于性质的优化，他们依赖于在本文中，我们提出了一种新的方法，全3D HS基于马尔可夫随机场（MRF）优化。在定义包含对象表面的解空间之后，基于HS质量度量和跨相邻表面点计算的正常一致性项来计算要最小化的能量函数。这种新方法提供了几个关键的优势，相对于以前的工作：优化是全球性的，而不是本地执行;一个更具歧视性的能量函数，允许更好，更快的收敛;一种新的可见性处理方法，以利用亥姆霍兹互易性提出;和表面集成隐式执行的优化过程的一部分，从而避免了需要一个额外的步骤。该方法进行了评估，在合成和真实的场景，与输入噪声的敏感性分析中进行的合成情况。在这两种类型的场景上都获得了准确的结果。此外，实验结果表明，所提出的方法显着优于以前的工作在几何和正常的准确性。
Many 3D reconstruction techniques are based on the assumption of prior knowledge of the object’s surface reflectance, which severely restricts the scope of scenes that can be reconstructed. In contrast, Helmholtz Stereopsis (HS) employs Helmholtz Reciprocity to compute the scene geometry regardless of its Bidirectional Reflectance Distribution Function (BRDF). Despite this advantage, most HS implementations to date have been limited to 2.5D reconstruction, with the few extensions to full 3D being generally limited to a local refinement due to the nature of the optimisers they rely on. In this paper, we propose a novel approach to full 3D HS based on Markov Random Field (MRF) optimisation. After defining a solution space that contains the surface of the object, the energy function to be minimised is computed based on the HS quality measure and a normal consistency term computed across neighbouring surface points. This new method offers several key advantages with respect to previous work: the optimisation is performed globally instead of locally; a more discriminative energy function is used, allowing for better and faster convergence; a novel visibility handling approach to take advantage of Helmholtz reciprocity is proposed; and surface integration is performed implicitly as part of the optimisation process, thereby avoiding the need for an additional step. The approach is evaluated on both synthetic and real scenes, with an analysis of the sensitivity to input noise performed in the synthetic case. Accurate results are obtained on both types of scenes. Further, experimental results indicate that the proposed approach significantly outperforms previous work in terms of geometric and normal accuracy.