Camera structure • Eye structurepages.cs.wisc.edu/.../syllabus/10-16-stereo/10-09-stereo.pdf ·...
Transcript of Camera structure • Eye structurepages.cs.wisc.edu/.../syllabus/10-16-stereo/10-09-stereo.pdf ·...
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What have we leaned so far?• Camera structure• Eye structure
Project 1: High Dynamic Range Imaging
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What have we learned so far?• Image Filtering• Image Warping• Camera Projection Model
Project 2: Panoramic Image Stitching
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What have we learned so far?• Projective Geometry• Single View Modeling• Shading Model
Project 3: Photometric Stereo
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Today• 3D modeling from two images – Stereo
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Public Library, Stereoscopic Looking Room, Chicago, by Phillips, 1923
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Inventor: Sir Charles Wheatstone, 1802 - 1875 http://en.wikipedia.org/wiki/Sir_Charles_Wheatstone
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Inventor: Sir Charles Wheatstone, 1802 - 1875 http://en.wikipedia.org/wiki/Wheatstone_bridge
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Stereograms online• UCR stereographs
• http://www.cmp.ucr.edu/site/exhibitions/stereo/• The Art of Stereo Photography
• http://www.photostuff.co.uk/stereo.htm• History of Stereo Photography
• http://www.rpi.edu/~ruiz/stereo_history/text/historystereog.html• Double Exposure
• http://home.centurytel.net/s3dcor/index.html• Stereo Photography
• http://www.shortcourses.com/book01/chapter09.htm• 3D Photography links
• http://www.studyweb.com/links/5243.html• National Stereoscopic Association
• http://204.248.144.203/3dLibrary/welcome.html• Books on Stereo Photography
• http://userwww.sfsu.edu/~hl/3d.biblio.html
A free pair of red-blue stereo glasses can be ordered from Rainbow Symphony Inc• http://www.rainbowsymphony.com/freestuff.html
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FUJIFILM, September 23, 2008
Fuji 3D printing
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Stereo
scene point
optical center
image plane
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Stereo
Basic Principle: Triangulation• Gives reconstruction as intersection of two rays• Requires
– calibration– point correspondence
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Stereo correspondence• Determine Pixel Correspondence
• Pairs of points that correspond to same scene point
Epipolar Constraint• Reduces correspondence problem to 1D search along conjugate
epipolar lines• Java demo: http://www.ai.sri.com/~luong/research/Meta3DViewer/EpipolarGeo.html
epipolar planeepipolar lineepipolar line
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Epipolar Line Example
courtesy of Marc Pollefeys
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Stereo image rectification
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Stereo image rectification
• reproject image planes onto a common• plane parallel to the line between optical
centers• pixel motion is horizontal after this transformation• two homographies (3x3 transform), one for each
input image reprojectionC. Loop and Z. Zhang. Computing Rectifying Homographies for Stereo Vision. IEEE Conf. Computer Vision and Pattern Recognition, 1999.
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Epipolar Line Example
courtesy of Marc Pollefeys
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Epipolar Line Example
courtesy of Marc Pollefeys
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Stereo matching algorithms
• Match Pixels in Conjugate Epipolar Lines• Assume brightness constancy• This is a tough problem• Numerous approaches
– A good survey and evaluation: http://www.middlebury.edu/stereo/
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Basic stereo algorithm
For each epipolar lineFor each pixel in the left image
• compare with every pixel on same epipolar line in right image
• pick pixel with minimum match cost
Improvement: match windows
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Basic stereo algorithm• For each pixel
• For each disparity
– For each pixel in window» Compute difference
• Find disparity with minimum SSD
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Reverse order of loops• For each disparity
• For each pixel
– For each pixel in window» Compute difference
• Find disparity with minimum SSD at each pixel
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Incremental computation• Given SSD of a window, at some disparity
Image 1
Image 2
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Incremental computation• Want: SSD at next location
Image 1
Image 2
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Incremental computation• Subtract contributions from leftmost column, add
contributions from rightmost column
Image 1
Image 2
+++++
-----
-----
+++++
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Selecting window size• Small window: more detail, but more noise• Large window: more robustness, less detail• Example:
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Selecting window size
3 pixel window 20 pixel window
Why?
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Non-square windows• Compromise: have a large window, but higher weight
near the center• Example: Gaussian• Example: Shifted windows (computation cost?)
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Problems with window matching• No guarantee that the matching is one-to-one• Hard to balance window size and smoothness
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A global approach• Finding correspondence between a pair of epipolar
lines for all pixels simultaneously
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A global approach
left
right
left
right
left
right
Define an evaluation score for each configuration, choose the best matching configuration
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A global approach• How to define the evaluation score?
• How about the sum of corresponding pixel difference?
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Ordering constraint• Order of matching features usually the same
in both images• But not always: occlusion
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Dynamic programming• Treat pixel correspondence as graph problem
Left imagepixels
Right image pixels
1 2 3 41
2
3
4
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Dynamic programming• Find min-cost path through graph
Left imagepixels
Right image pixels
1 2 3 41
2
3
4
1
34
1
2234
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Dynamic Programming Results
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Energy minimization• Another global approach to improve quality of
correspondences• Assumption: disparities vary (mostly) smoothly• Minimize energy function:
Edata+λEsmoothness
• Edata: how well does disparity match data• Esmoothness: how well does disparity match
that of neighbors – regularization
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Stereo as energy minimization• Matching Cost Formulated as Energy
• “data” term penalizing bad matches
• “neighborhood term” encouraging spatial smoothness
),(),(),,( ydxyxdyxD +−= JI
similar)something(or
d2 and d1 labels with pixelsadjacentofcost
21
21 ),(dd
ddV−=
=
∑∑ +=)2,2(),1,1(
2,21,1),(
, ),(),,(})({yxyxneighbors
yxyxyx
yx ddVdyxDdE
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Energy minimization
• Many local minimum• Why?• Gradient descent doesn’t work well
• In practice, disparities only piecewise smooth• Design smoothness function that doesn’t penalize
large jumps too much• Example: V(α,β)=min(|α−β|, K)
– Non-convex
∑∑ +=)2,2(),1,1(
2,21,1),(
, ),(),,(})({yxyxneighbors
yxyxyx
yx ddVdyxDdE
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Energy minimization• Hard to find global minima of non-smooth functions
• Many local minima• Provably NP-hard
• Practical algorithms look for approximate minima (e.g., simulated annealing)
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Energy minimization via graph cuts
Labels (disparities)
d1
d2
d3
edge weight
edge weight
),,( 3dyxD
),( 11 ddV
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• Graph Cost• Matching cost between images• Neighborhood matching term• Goal: figure out which labels are connected to which pixels
d1
d2
d3
Energy minimization via graph cuts
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Energy minimization via graph cuts
d1
d2
d3
• Graph Cut• Delete enough edges so that
– each pixel is connected to exactly one label node
• Cost of a cut: sum of deleted edge weights• Finding min cost cut equivalent to finding global minimum of
energy function
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Computing a multiway cut
• With 2 labels: classical min-cut problem• Solvable by standard flow algorithms
– polynomial time in theory, nearly linear in practice• More than 2 terminals: NP-hard
[Dahlhaus et al., STOC ‘92]• Efficient approximation algorithms exist
• Yuri Boykov, Olga Veksler and Ramin Zabih, Fast Approximate Energy Minimization via Graph Cuts, International Conference on Computer Vision, September 1999.
• Within a factor of 2 of optimal• Computes local minimum in a strong sense
– even very large moves will not improve the energy
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Move examples
Starting point
Red-blue swap move
Green expansion move
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The swap move algorithm1. Start with an arbitrary labeling2. Cycle through every label pair (A,B) in some order
2.1 Find the lowest E labeling within a single AB-swap2.2 Go there if it’s lower E than the current labeling
3. If E did not decrease in the cycle, we’re done Otherwise, go to step 2
Original graph
A
B
AB subgraph(run min-cut on this graph)
B
A
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The expansion move algorithm
1. Start with an arbitrary labeling2. Cycle through every label A in some order
2.1 Find the lowest E labeling within a single A-expansion
2.2 Go there if it’s lower E than the current labeling3. If E did not decrease in the cycle, we’re done Otherwise, go to
step 2
Multi-way cut A sequence of binary optimization problems
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Stereo results
ground truthscene
• Data from University of Tsukuba
http://cat.middlebury.edu/stereo/
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Results with window correlation
normalized correlation(best window size)
ground truth
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Results with graph cuts
ground truthgraph cuts(Potts model E,expansion move algorithm)
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Depth from disparity
f
x x’
baseline
z
C C’
X
f
input image (1 of 2)[Szeliski & Kang ‘95]
depth map 3D rendering
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Real-time stereo
• Used for robot navigation (and other tasks)• Several software-based real-time stereo techniques have
been developed (most based on simple discrete search)
Nomad robot searches for meteorites in Antarticahttp://www.frc.ri.cmu.edu/projects/meteorobot/index.html
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• Camera calibration errors• Poor image resolution• Occlusions• Violations of brightness constancy (specular reflections)• Large motions• Low-contrast image regions
Stereo reconstruction pipeline• Steps
• Calibrate cameras• Rectify images• Compute disparity• Estimate depth
What will cause errors?
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Spacetime Stereo
Li Zhang, Noah Snavely, Brian Curless, Steven SeitzCVPR 2003, SIGGRAPH 2004
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Stereo
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Stereo
???
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Marker-based Face Capture
The Polar Express, 2004
“The largest intractable problem with ‘The Polar Express’ is that the motion-capture technology used to create the human figures has resulted in a film filled with creepily unlifelike beings.”
New York Times Review, Nov 2004
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Stereo
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Stereo
Frame-by-Frame Stereo W×H = 15×15 Window
A Pair of Videos 640×480@60fps Each
Inaccurate & Jittering
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3D Surface
Spacetime Stereo
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Spacetime Stereo
Time
3D Surface
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Spacetime Stereo
Time
3D Surface
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Spacetime Stereo
Time
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Spacetime Stereo
Surface Motion
Time
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Spacetime Stereo
Surface Motion
Time=0
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Spacetime Stereo
Surface Motion
Time=1
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Spacetime Stereo
Surface Motion
Time=2
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Spacetime Stereo
Surface Motion
Time=3
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Spacetime Stereo
Surface Motion
Time=4
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Surface Motion
• Matching Volumetric Window
• Affine Window Deformation
Key ideas:
Spacetime Stereo
Time
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Spacetime Stereo
Time
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Spacetime Stereo
Time
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Spacetime Stereo
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Spacetime Stereo
A Pair of Videos 640×480@60fps Each
Spacetime Stereo W×H×T = 9×5×5 Window
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Frame-by-Frame vs. Spacetime Stereo
Spacetime Stereo W×H×T = 9×5×5 Window
Frame-by-Frame W×H = 15×15 Window
Spatially More AccurateTemporally More Stable
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Video Projectors
Color Cameras
Black & White Cameras
Spacetime Face Capture System
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System in Action
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Input Videos (640×480, 60fps)
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Spacetime Stereo Reconstruction
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Creating a Face Database
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Creating a Face Database
[Zhang et al. SIGGRAPH’04]
…
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Application 1: Expression Synthesis
[Zhang et al. SIGGRAPH’04]
…
A New Expression:
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Application 2: Facial Animation
[Zhang et al. SIGGRAPH’04]
…
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Keyframe Animation