IMAGE PROCESSING METHODS AND APPARATUS
First Claim
1. A method of determining data characterising a set of images of an object, the method comprising:
- inputting data from a first set of images of said object captured from a plurality of different positions;
determining frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object, and for each said frontier point, a direction of a normal to the surface of the object at the frontier point;
inputting data from a second set of captured images of said object, said second set of images having substantially the same viewpoint and different illumination conditions; and
determining data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (β
) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.
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Accused Products
Abstract
We describe methods of characterising a set of images to determine their respective illumination, for example for recovering the 3D shape of an illuminated object. The method comprises: inputting a first set of images of the object captured from different positions; determining frontier point data from the images, this defining a plurality of frontier points on the object and for each said frontier point a direction of a normal to the surface of the object at the frontier point, and determining data defining the image capture positions; inputting a second set of images of said object, having substantially the same viewpoint and different illumination conditions; and characterising the second set of images said frontier point data to determine data comprising object reflectance parameter data (β) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.
41 Citations
18 Claims
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1. A method of determining data characterising a set of images of an object, the method comprising:
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inputting data from a first set of images of said object captured from a plurality of different positions; determining frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object, and for each said frontier point, a direction of a normal to the surface of the object at the frontier point; inputting data from a second set of captured images of said object, said second set of images having substantially the same viewpoint and different illumination conditions; and determining data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (β
) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 11, 12)
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10. A method of determining data characterising a set of images of an object, the method comprising:
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inputting data from a first set of images of said object captured from a plurality of different positions; determining frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object, and for each said frontier point, a direction of a normal to the surface of the object at the frontier point; inputting data from a second set of captured images of said object, said second set of images having different viewpoints and illumination conditions; and determining data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (β
) and illumination data comprising data defining a common angular illumination intensity distribution for all the images of said second set of images.
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13. A system for determining data characterising a set of images of an object, the system comprising:
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an input to input data from a first set of images of said object captured from a plurality of different positions, and data from second set of captured images of said object, said second set of images having substantially the same viewpoint and different illumination conditions; data memory for storing data to be processed; program memory storing processor control code; and a processor coupled to said input, data memory and program memory to load and implement said stored code, said code comprising code for controlling the processor to; determine frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object and for each said frontier point, a direction of a normal to the surface of the object at the frontier point; and determine data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (β
) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image. - View Dependent Claims (14, 15, 16)
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17. A vehicle, including a mobility function to enable the vehicle to move itself, the vehicle further including:
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a system to determine relative position of the vehicle from a point; at least one camera to capture images; a system to utilise said relative vehicle position to reconstruct shapes of one or more objects from images captured from said camera by moving the vehicle, and to thereby detect an area unoccupied by said one or more objects. - View Dependent Claims (18)
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Specification