The light-path less traveled

Ramalingam, Srikumar; Bouaziz, Samir; Sturm, Peter; Torr, Philip H. S.

doi:10.1109/cvpr.2011.5995706

Cited by 4 publications

(3 citation statements)

References 28 publications

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“…For this reason, special calibration procedures are necessary. In [70] a fixed (and known) mirror geometry is assumed and an algorithm for pose recovery of the real camera that is based on scene point correspondences (without knowing their reflection level) is derived.…”

Section: Multiple Mirrors Multi-bouncementioning

confidence: 99%

Mirrors in Computer Graphics, Computer Vision and Time-of-Flight Imaging

Reshetouski

Ihrke

2013

Lecture Notes in Computer Science

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Mirroring is one of the fundamental light/surface interactions occurring in the real world. Surfaces often cause specular reflection, making it necessary to design robust geometry recovery algorithms for many practical situations. In these applications the specular nature of the surface is a challenge. On the other side, mirrors, with their unique reflective properties, can be used to improve our sensing modalities, enabling applications such as surround, stereo and light field imaging. In these scenarios the specular interactions are highly desirable. Both of these aspects, the utilization and circumvention of mirrors are present in a significant amount of publications in different scientific areas. These publications are covering a large number of different problem statements as well as many different approaches to solutions. In the chapter we will focus on a collection and classification of the work in this area.

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Section: Multiple Mirrors Multi-bouncementioning

confidence: 99%

Mirrors in Computer Graphics, Computer Vision and Time-of-Flight Imaging

Reshetouski

Ihrke

2013

Lecture Notes in Computer Science

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“…Recently, it has been shown that the minimum and maximum distances between line segments are very effective in pruning the search space in correspondence problems [28]. Note that we can also use the minimum distance between two line segments in building the L2L feature.…”

Section: (A)mentioning

confidence: 99%

Voting-based pose estimation for robotic assembly using a 3D sensor

Choi

Taguchi

Tuzel

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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158

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We propose a voting-based pose estimation algorithm applicable to 3D sensors, which are fast replacing their 2D counterparts in many robotics, computer vision, and gaming applications. It was recently shown that a pair of oriented 3D points, which are points on the object surface with normals, in a voting framework enables fast and robust pose estimation. Although oriented surface points are discriminative for objects with sufficient curvature changes, they are not compact and discriminative enough for many industrial and real-world objects that are mostly planar. As edges play the key role in 2D registration, depth discontinuities are crucial in 3D. In this paper, we investigate and develop a family of pose estimation algorithms that better exploit this boundary information. In addition to oriented surface points, we use two other primitives: boundary points with directions and boundary line segments. Our experiments show that these carefully chosen primitives encode more information compactly and thereby provide higher accuracy for a wide class of industrial parts and enable faster computation. We demonstrate a practical robotic bin-picking system using the proposed algorithm and a 3D sensor. IEEE International Conference on Robotics and Automation (ICRA)This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Abstract-We propose a voting-based pose estimation algorithm applicable to 3D sensors, which are fast replacing their 2D counterparts in many robotics, computer vision, and gaming applications. It was recently shown that a pair of oriented 3D points, which are points on the object surface with normals, in a voting framework enables fast and robust pose estimation. Although oriented surface points are discriminative for objects with sufficient curvature changes, they are not compact and discriminative enough for many industrial and real-world objects that are mostly planar. As edges play the key role in 2D registration, depth discontinuities are crucial in 3D. In this paper, we investigate and develop a family of pose estimation algorithms that better exploit this boundary information. In addition to oriented surface points, we use two other primitives: boundary points with directions and boundary line segments. Our experiments show that these carefully chosen primitives encode more information compactly and thereby provide higher accuracy for a wide class of industrial part...

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“…The pose estimation problem for a calibrated mirror geometry has recently been investigated by Ramalingam et al [18]. In contrast, we aim at determining the geometry of a room of mirrors in conjunction with the camera pose.…”

Section: Introductionmentioning

confidence: 99%

Discovering the Structure of a Planar Mirror System from Multiple Observations of a Single Point

Reshetouski¹,

Manakov

Bandhari

et al. 2013

2013 IEEE Conference on Computer Vision and Pattern Recognition

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We investigate the problem of identifying the position of a viewer inside a room of planar mirrors with unknown geometry in conjunction with the room's shape parameters. We consider the observations to consist of angularly resolved depth measurements of a single scene point that is being observed via many multi-bounce interactions with the specular room geometry.Applications of this problem statement include areas such as calibration, acoustic echo cancelation and time-of-flight imaging. We theoretically analyze the problem and derive sufficient conditions for a combination of convex room geometry, observer, and scene point to be reconstructable. The resulting constructive algorithm is exponential in nature and, therefore, not directly applicable to practical scenarios.To counter the situation, we propose theoretically devised geometric constraints that enable an efficient pruning of the solution space and develop a heuristic randomized search algorithm that uses these constraints to obtain an effective solution. We demonstrate the effectiveness of our algorithm on extensive simulations as well as in a challenging real-world calibration scenario.

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The light-path less traveled

Abstract: Abstract

Cited by 4 publications

References 28 publications

Mirrors in Computer Graphics, Computer Vision and Time-of-Flight Imaging

Mirrors in Computer Graphics, Computer Vision and Time-of-Flight Imaging

Voting-based pose estimation for robotic assembly using a 3D sensor

Discovering the Structure of a Planar Mirror System from Multiple Observations of a Single Point

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