1. Computer Vision Spring 2006 15-385,-685 Instructor: S. Narasimhan Wean 5403 T-R 3:00pm – 4:20pm Lecture #12

2. Midterm – March 9 Syllabus – until and including Lightness and Retinex Closed book, closed notes exam in class. Time: 3:00pm – 4:20pm Midterm review class next Tuesday (March 7) (Email me by March 6 specific questions) If you have read the notes and readings, attended all classes, done assignments well, it should be a walk in the park

3. Mechanisms of Reflection source surface reflection surface incident direction body reflection Body Reflection: Diffuse Reflection Matte Appearance Non-Homogeneous Medium Clay, paper, etc Surface Reflection: Specular Reflection Glossy Appearance Highlights Dominant for Metals Image Intensity = Body Reflection + Surface Reflection

4. Example Surfaces Body Reflection: Diffuse Reflection Matte Appearance Non-Homogeneous Medium Clay, paper, etc Surface Reflection: Specular Reflection Glossy Appearance Highlights Dominant for Metals Many materials exhibit both Reflections:

5. Diffuse Reflection and Lambertian BRDF viewing direction surface element normal incident direction Lambertian BRDF is simply a constant : albedo Surface appears equally bright from ALL directions! (independent of ) Surface Radiance : Commonly used in Vision and Graphics! source intensity source intensity I

6. Diffuse Reflection and Lambertian BRDF

7. White-out: Snow and Overcast Skies CAN’T perceive the shape of the snow covered terrain! CAN perceive shape in regions lit by the street lamp!! WHY?

8. Diffuse Reflection from Uniform Sky Assume Lambertian Surface with Albedo = 1 (no absorption) Assume Sky radiance is constant Substituting in above Equation: Radiance of any patch is the same as Sky radiance !! (white-out condition)

9. Specular Reflection and Mirror BRDF source intensity I viewing direction surface element normal incident direction specular/mirror direction Mirror BRDF is simply a double-delta function : Valid for very smooth surfaces. All incident light energy reflected in a SINGLE direction (only when = ). Surface Radiance : specular albedo

10. Combing Specular and Diffuse: Dichromatic Reflection Observed Image Color = a x Body Color + b x Specular Reflection Color R G B Klinker-Shafer-Kanade 1988 Color of Source (Specular reflection) Color of Surface (Diffuse/Body Reflection) Does not specify any specific model for Diffuse/specular reflection

11. Diffuse and Specular Reflection diffusespeculardiffuse+specular

12. Photometric Stereo Lecture #12

13. Image Intensity and 3D Geometry Shading as a cue for shape reconstruction What is the relation between intensity and shape? –Reflectance Map

14. Surface Normal surface normal Equation of plane or Let Surface normal

15. Surface Normal

16. Gradient Space Normal vector Source vector plane is called the Gradient Space (pq plane) Every point on it corresponds to a particular surface orientation

17. Reflectance Map Relates image irradiance I(x,y) to surface orientation (p,q) for given source direction and surface reflectance Lambertian case: : source brightness : surface albedo (reflectance) : constant (optical system) Image irradiance: Letthen

18. Lambertian case Reflectance Map (Lambertian) cone of constant Iso-brightness contour Reflectance Map

19. Lambertian case iso-brightness contour Note: is maximum when Reflectance Map

20. Glossy surfaces (Torrance-Sparrow reflectance model) diffuse termspecular term Diffuse peak Specular peak Reflectance Map

21. Shape from a Single Image? Given a single image of an object with known surface reflectance taken under a known light source, can we recover the shape of the object? Given R(p,q) ( (p S,q S ) and surface reflectance) can we determine (p,q) uniquely for each image point? NO

22. Solution Take more images –Photometric stereo Add more constraints –Shape-from-shading (next class)

23. Photometric Stereo

24. We can write this in matrix form: Image irradiance: Lambertian case: Photometric Stereo

25. Solving the Equations inverse

26. More than Three Light Sources Get better results by using more lights Least squares solution: Solve for as before Moore-Penrose pseudo inverse

27. Color Images The case of RGB images –get three sets of equations, one per color channel: –Simple solution: first solve for using one channel –Then substitute known into above equations to get –Or combine three channels and solve for

28. Computing light source directions Trick: place a chrome sphere in the scene –the location of the highlight tells you the source direction

29. For a perfect mirror, light is reflected about N Specular Reflection - Recap We see a highlight when Then is given as follows:

30. Computing the Light Source Direction Can compute N by studying this figure –Hints: use this equation: can measure c, h, and r in the image N rNrN C H c h Chrome sphere that has a highlight at position h in the image image plane sphere in 3D

31. Depth from Normals Get a similar equation for V 2 –Each normal gives us two linear constraints on z –compute z values by solving a matrix equation V1V1 V2V2 N

32. Limitations Big problems –Doesn’t work for shiny things, semi-translucent things –Shadows, inter-reflections Smaller problems –Camera and lights have to be distant –Calibration requirements measure light source directions, intensities camera response function

33. Trick for Handling Shadows Weight each equation by the pixel brightness: Gives weighted least-squares matrix equation: Solve for as before

34. Original Images

35. Results - Shape Shallow reconstruction (effect of interreflections) Accurate reconstruction (after removing interreflections)

36. Results - Albedo No Shading Information

37. Original Images

38. Results - Shape

39. Results - Albedo

40. Results 1.Estimate light source directions 2.Compute surface normals 3.Compute albedo values 4.Estimate depth from surface normals 5.Relight the object (with original texture and uniform albedo)

41. Next Class Shape from Shading Reading: Horn, Chapter 11.