|
|
|
|
|
1-CCD camera 69
3-CCD camera 69 3D model 367 3D profile 360 3D rotation matrix 51, 59, 65 3D scanner 348 3D translation vector 51, 59
active color stereo analysis 370 ADC 74 ADJUST 15 albedo 236 albedo dependent 302, 310, 331 albedo independent 302, 326, 335 algorithm representation 15, 38 analog/digital converter 74 analytical reflection mode 248 angle incident angle 237 emergent angle 237 emittance angle 237 phase angle 237 angle criterion 138 anisotropic 237 antiderivative 84, 127 aperture problem (motion analysis) 180 apparent contour 89 approximation 130 approximation of surfaces 39 area-based stereo 145 arithmetic mean 35 azimuthal projection 118
backprojection 99 base distance 30, 131 base line 131, 134 beam-splitter prism 71 Beckmann-Spizzichino model 250 bidirectional reflectance-distribution function 232 binary encoded light stripe projection 363 binary image 12 binocular image acquisition 5, 29, 129 bit-plane stack 363 black level 77 block-matching method 146, 155 blooming 74 body reflection 253 body reflection color 253 bootstrap problem 142 BRDF, see bidirectional reflectance-distribution function brightness constraint 280
calculus of variations 285
calibration
see direct linear transformation
see Tsai calibration
calibration marks 53
calibration object 48, 53, 54, 63, 207, 246, 357
calibration points 53
calibration technique 53, 62
camera
CCD camera 6, 33, 62
camera centered coordinate system 44,
51, 57, 58
camera constant 48, 50
camera coordinate system 48
camera coordinates 43
camera geometry 43
camera modeling 130
camera rotation 189
capture of image data, see image acquisition
CCD 68
camera 6, 33, 62
central projection 30, 44, 49, 100, 106, 132, 182, 185, 220
centroid 53
characteristic curve 273
charge coupled device, see CCD
clipping 73
collinear 31
collineation 46
color 12
color cube 13
color difference 156
color distance 156
color encoded light stripe projection 367
color gradients 166
color histogram 255
color image 12
color image model 39
color image stereo analysis 155
color signal 72
color-signal plane 255
color stereo image 33
color stripe filter 70, 71
compatibility assumption for features 140
compatibility assumption for intensity values 138
compatibility constraint 136
complementary color mosaic filter 71
concave orientation edge 123
concave-convex conflict 304, 305, 314
conic section 243, 310, 332
conservative vector field 84, 319
constrained search space (turntable) 212
constraint 10
constraint combination 284
continuity assumption for disparities 139
continuity assumption for disparities along the edges 140
continuity constraint 136, 139
continuous function 82, 127
continuous illumination 370
continuous surface functions 83
contour plot 115, 243
contrasting illumination 370
convex orientation edge 123
convolution 25
convolution operation 24
coordinate system
, image centered coordinate system 44, 45, 51, 57, 58
coordinates ideal image43
coordinates spherical 233
coordinates stereographic 238, 241, 280, 286
coordinates undistorted image 58
coplanarity 123
correspondence analysis 130, 207
correspondence problem 33, 135
corresponding points 31, 209
assigning 135
cross product 122
cumulative dissimilarity functional 152
curved surface 83
cyclopean separation 143
cylindrical lens 356
dark current 77 depth map 95, 97, 105 determination equations 185 dichromatic plane 255 dichromatic reflection model 252 difference quotient 90 differential quotient 90 diffuse reflection component 248 direct linear transformation 53, 54, 63 direction angle 22 directional derivative 87 discrete iteration scheme 196 disparity 31 disparity map 31, 33, 36 disparity candidate multi-interval 162 disparity gradient 143 disparity gradient limit 144, 136 disparity histogram, global 161 disparity histogram, local 162 disparity limit 136, 142, 152 disparity smoothness constraint 139 displacement parameters 185 dissimilarity measure 35 distance error 110 DLT, see direct linear transformation dot notation 85 DRM, see dichromatic reflection model dual point 122 dual straight line 121, 244, 327 dynamic programming 153, 172 dynamic range 73, dynamic stereo analysis 130, 180
edge detection 19, 38 edge , gray value 20 , highlight 141 , illumination 141 , image value 20 , object 2, 141 , occlusion 141 edge operator 37 edge , orientation 141 , reflectance 141 , shadow 141 effective focal length 29, 48, 50, 55, 58 emergent angle 237 emittance angle 237 empirical reflectance map 248 empirical reflection model 246 epipolar constraint 136, 137 epipolar geometry 134 epipolar line 135, 137 epipolar epipolar plane 134, 135 epipolar epipolar profile 151 epipole 134 error function 67 error , sum of angular 205 , sum of relative 205 expected value 35 extrinsic parameters 52
f-stop 74 face 2 facet 82, 100, 124, 182 fast Fourier transform 113, 114, 116, 125 feature compatibility constraint 140 feature extraction 130 feature-based correspondence analysis 159 feature-based stereo 159 FFT, see fast Fourier transform field of local displacement vectors 177 figural continuity constraint 136, 140 focal length 9, 50 see also effective focal length focal point 29 focal separation 33 forward differences 202 Fourier see also fast Fourier transform Fourier coefficient 110 Fourier expansion 110 Fourier function 110 frame grabber 51, 62 frame transfer sensor 68 Frankot-Chellappa algorithm 109 Fresnel term 250 functional determinant 190 functional representation 81
gamma correction 76 gamma recorrection 259 gamma value 76 Gauss filter 167 Gaussian coordinates 92 Gaussian curvature 118 Gaussian hemisphere 92, 307 Gaussian lens formula 49 Gaussian sphere 92, 103, 118, 190, 266 Gaussian general reflectance map 275 general shape reconstruction problem 95 general shape recovery problem 95 generalized cylinder 270 geometric similarity constraint 136, 138 geometrical attenuation 250 geometrical optics 249 geometry of scene objects 124 geometry of stereo analysis 172 global integration method 109 global minimization approach 280 gnomonic projection 118, 241 gonio-reflectometer 236 gradient 20, 67, 87 gradient map 95, 98, 105, 115 gradient space 117, 124, 238 gradient vector 20 Gray code 363 gray tone 13 gray value 12 see also image irradiance gray value relief 20 great circle 92 GretagMacbeth ColorChecker 16, 17, 77, 255 ground truth 97
halfway-vector 251 height map 95, 97, 105 Homogeneous coordinates 45 Horn-Schunck algorithm 198 Horn-Schunck constraint 193 Horn-Schunck method 193, 222 HSI model 14, 72 human visual system 172 hybrid reflection 248
ideal image coordinates 43 ideal lens 49 illuminance 228 illumination direction 237 calculation 340 illumination gradient 239 image 6, 12, 44 image buffer (coordinates) 51, 58 image center 52, 63 image-centered coordinate system 44, 45, 51, 57, 58 image-centered projection 185 image formation 258 image irradiance 228, 229, 232, 233, 260 image irradiance equation 258, 266 image plane 6, 29 image point 12, 44 image processing 1, 38 image resolution 12 image segmentation 16 image sequence 178 image size 12 image stitching 17 image transformation 38 image value 6 image value function 20 image , digital 12 , gray value 12 image pixel 62 image width 49 image acquisition 43, 130 , active 5 , binocular 5, 29, 129 , dynamic 2 , monocular 5 , polyocular 5 incident angle 237 indefinite integral 84 inhomogeneous coordinates 45 inhomogeneous dielectric 252 inner vector product 121 integrability condition 83, 127 integrability constraint 110, 283, 318 integration 95 integration path 85, 128 intensity 14 intensity gradient constraint 284 intensity-based correspondence analysis 146 intercept 82 interface reflection 253 interline transfer sensor 68 internal scattering 249 interreflections 256 intrinsic parameters 52 inverse square law 231 inverse photometric stereo method 341 irradiance constraint 280 irradiance gradient constraint 284 irradiance pair 307 irradiance triplet 331 irradiance see also image irradiance isoirradiance curve 244 isoradiance curve 244 isotropic 237
Jacobian determinant 190
laboratory set-up 4 see also image acquisition Lambertian reflectance map 240 Lambertian reflector 234 Lambertian surface 4, 236 Lambertian texture 115 Lambert's cosine law 235, 249, 266 Laplace derivation 22 Laplace operator 287 Laplacian 22 Laplacian-of-Gaussian 24 laser range finder 6 see also 3D scanner law of reciprocity 231 LCD-projector 367 length criterion 139 light spot projection 349 light spot stereo analysis 353 light stripe projection 355 linear reflectance map 238, 271, 308 linear surface patch 82 linear transformation 46 linearity assumption 90 local difference operation 199 local displacement field 179 local displacement vector 179 local integration technique 109 local shape from shading 293 local velocity vector 179 LoG filter 24 LoG operator 40, 161 look-up table 334 luminance 228 luminous emittance 228 luminous energy 228 luminous exitance 228 luminous flux 228 luminous intensity 228 luminous power 228
Macbeth ColorChecker, see GretagMacbeth ColorChecker master black control 77 matching corresponding points 135 mean 35 mean square error 148 measured image irradiance 258, 263 median operator 150 Mexican hat 24 minimization problem 197 mobile robots 173 Moore-Penrose inverse 55, 64 motion , 3D 177 , absolute 178 , relative 178 vector 146 moving light displays 177, 223 MSE, see mean square error mutual illuminations 256
National Television System Committee 76 needle map 102, 115, 291, 297, 319, 324 negative solution 315 neutral interface reflection model 254 NIRM, see neutral interface reflection model normal 87 normal distribution 24 normal vector 21 NTSC, see National Television System Committee
object , 2.5-D 9 , 3D 8 object edge 2 object face 2 object in 3D Euclidean space 8 object surface 2, 39, 81 object tracking 11, 222 object width 49 occluding boundary 89, 141, 182, 218, 291 occlusion edge 89 optical axis 29 optical center 29 optical-lens camera model 48 mapping 6 optical flow 190 , image value fidelity of the 192 , motion fidelity of the 193 , representation of 203 , smoothness of 195 technique 11, 222 optimal difference recursive filter 37 optimization problem 110 ordering constraint 136, 144, 145, 151 orientation 87 orientation edge 89, 123 orthogonal (parallel) projection, see parallel projection orthogonal matrix 189 orthogonal vectors 121 orthogonality 121 orthographic projection, see parallel projection outer vector product 122
PAL, see phase alternation line pan angle 52 parallax 31 parallel implementation 174 partial derivatives 67 pattern analysis 1, 2, 4, 38 perfectly diffuse 234 perspective projection 44, 57 phase alternation line 76 phase angle 237 phase shift 366 Phong model 251 photogrammetry 129 photometric calibration 75, 259 photometric compatibility constraint 136, 145 photometric compatibility constraint, photometric differential 138 photometric quanti-ties 228 photometric sensor model 71 photometric stereo 3, 5, 301 photometric stereo analysis, see photometric stereo photometric stereo method, see photometric stereo physical optics 249 pinhole camera 29, 44, 48 pixel 12 plane 88 , slope 82 , slope-intercept equation 82, 88 plane at infinity 45 point , visible 96 point-based differential techniques 206 point at infinity 45, 47 polar projection 118 polyhedral scene object 101 polyhedral world 101 polyhedron 82 position vector 6 positive solution 315 pre-knee-circuit 73 primary color mosaic filter 69 primary colors 13 principal point 51, 52, 58, 63, 68 problem , ill-posed 7 , well-posed 7 profile 89 projection 44, 47, 108, 127, 179, 188, 218, 237, 259 see also central projection see also parallel projection projection center 30, 45, 47 projection equation 44, 45, 59, 46, 47 projection optics 6 projection plane 45 projection points 45 projection space 45 propagation method 271 PSM, see photometric stereo
quadratic variation 22 quantization 12
radial lens distortions 59 radiance 228, 230, 231, 233 radiant emittance 228, 229, 234 radiant energy 228, 229 radiant exitance 228, 229 radiant flux 228, 229 radiant intensity 228, 229, 231 radiant power 228, 229, 230 radiation 228 radiometric quantities 228 radiosity 231 range data analysis 2 range image 97 range scanner, see 3D scanner ray 225 ray of projection 95 ray theorem 9, 44, 59, 182 re-correction 76 reconstruction of object surfaces 1 recovery of object shapes 1 rectangle 179 rectification 134, 138 reflectance map 237 reflected radiance 230, 234 see also radiance reflection anisotropic 237 reflection isotropic 237 reflection component 248 reflection hybrid reflection 248 reflection model 227 Dichromatic reflection model 252 Beckmann-Spizzichino reflection model 250 Phong reflection model 251 Torrance-Sparrow reflection model 250 registration 95 regularization 281 relief, gray value 20 RGB model 12, 156 right circular cone 266, 312 rigid object 7, 81, 177 rim 89, 218 robotics 173 roll 56 roll angle 52 rotation 131 rotation matrix 189, 208, 214 rotation parameters 188 rotationally symmetric reflectance map 275 rotationally symmetric Lambertian reflectance map 241, 268 roughness 250 ruled surface 305
sampling theorem 25 saturation 14, 74 scalar disparity 31 scalar product 121 scaling factor 65 scan algorithm 109 scene 5, 44 , dynamic 2 , geometric resolution in the 9 , indoor 2 , outdoor 2 scen analysis 2, 38 scene objects, geometry of 39 scene space 6 scene value 6 scene point 44 scene radiance 230, 254, 260 Schwarz function 126 search window 146 SECAM, see sequentiel couleur a memoire self-shadow 244 self-shadow line 244 sensor , interline transfer 68 , frame transfer 68 sensor characteristics 43 sensor coordinates 58, 61 sensor elements 62 sensor model 68 sequentiel couleur a memoire 76 set , compact 8 set simply-connected 8, 83 SFS, see shape from shading shape 7 shape from focus 5 shape from motion 5, 11, 222 shape from occluding boundaries 5, 223 volume based approach 221 shape from texture 11 shape reconstruction 2 shape recovery 1, 129 shape from shadows 11 shape from shading 11, 263 classification 267 limitations 302 , local shape from shading 293 , global minimization 280 , propagation 271 Shirai algorithm 33, 40, 140, 142 silhouette 89 similarity function 41 measure 35, 145, 151 slant 21, 56, 92, 103, 113, 118 smoothing 24 smoothness constraint 110, 281, 292 smoothness error 195 Sobel operator 23 solid angle 229 spatial resolution 9 spectral spectral power distribution 71 spectral reflectance factor 71, 77 spectral reflection component 249 spectral response curve 71 spectral sensitivity 71 specular lobe 250 specular spike 250 sphere 2, 91, 98 spherical coordinates 233 spherical lune 93 square error 35 ssg, see standard stereo geometry staircase example 109 standard deviation 24 standard stereo geometry 30, 31, 40, 130, 133, 175 static light pattern projection 362 static scene 2 static stereo analysis 29, 129, 353 stereo pipeline 130 steradiant 94 stereo , area-based 145 stereo color image 36 stereo vision 129 stereographic coordinates 238, 241, 280, 286 stereographic projection 118 stereopsis 129 structured lighting 5, 347 subpixel accuracy 160 surface 2, 39 , Lambertian 4 surface curvature 118 surface function 112 surface gradient 260 surface patches 10 surface point 8 surface reconstruction 2 surface representation 125 , floating horizon 115 , grid 115 , shaded 115 surface roughness 251 symmetry plane 312
tangent plane 86 Taylor expansion 90, 193 texture 4 three source photometric stereo 331 tilt 56, 92, 103, 118 tilt angle 52 topology of 3D objects 39 Torrance-Sparrow model 250 translation vector 208 triangulation 130, 133, 207, 349 trinocular stereo analysis 169, 170 tristimulus values 13 Tsai calibration 62 turntable 207, 214, 218 two source photometric stereo 307
undistorted image coordinates 58 uniqueness assumption 136, 138 unit (surface) normal 87, 92, 118, 238 unit (surface) normal constraint 284
valid (distorted) image coordinates 58 vanishing plane 45 variance 24, 35 variation calculus 196 vector field 84, 128 vector product 122, 182 velocity 183 velocity space 194 viewer direction 237 vignetting 259 visible, entirely from outside, 8 vision , active 191 , animate 191 visual sensor 2 visualizations of object surfaces 125
weighted moments 53 weighting parameter 196 white balance 78 white level 74 world coordinate system 48, 58 world coordinates 43, 51, 209
Ye-Cy-Mg-G color mosaic filter 71
zero crossing 23, 28 vector 161 zero-irradiance 307