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Depth from stereo and polarization of opaque non-Lambertian surfaces

Show simple item record Berger, Kai Voorhies, Randolph Matthies, Larry H. 2019-06-11T21:58:20Z 2019-06-11T21:58:20Z 2017-05-29
dc.identifier.citation 2017 IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, May 29 to June 3, 2017 en_US
dc.identifier.clearanceno 16-4260
dc.description.abstract This paper presents a new approach to depth from stereo in scenes with non-Lambertian surfaces. While these surfaces usually prove to be hard to incorporate in photo-consistency energy minimization, we retrieve additional information about their surface normals from applying a polarization-based approach that computes the degree and angle of polarization at each pixel. Therefore, we set up a stereo camera rig that captures four different rotations of a linear polarizer simultaneously for each camera. While most existing polarization-based approaches to shape reconstruction require a setup with known lighting, our approach uses arbitrary unpolarized illumination. We describe a regularization-based stereo approach that constrains specular surface normals in the scene to lie in the plane of their observed angle of polarization. We derive the mathematical foundations of this approach and present results on virtually generated stereo and real-world stereo imagery. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2017 en_US
dc.title Depth from stereo and polarization of opaque non-Lambertian surfaces en_US
dc.type Preprint en_US

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