A coaxial optical scanner for synchronous acquisition of 3D geometry and surface reflectance

Abstract

We present a novel optical setup and processing pipeline for measuring the 3D geometry and spatially-varying surface reflectance of physical objects. Central to our design is a digital camera and a high frequency spatially-modulated light source aligned to share a common focal point and optical axis. Pairs of such devices allow capturing a sequence of images from which precise measurements of geometry and reflectance can be recovered. Our approach is enabled by two technical contributions: a new active multiview stereo algorithm and an analysis of light descattering that has important implications for image-based reflectometry. We show that the geometry measured by our scanner is accurate to within 50 microns at a resolution of roughly 200 microns and that the reflectance agrees with reference data to within 5.5%. Additionally, we present an image relighting application and show renderings that agree very well with reference images at light and view positions far from those that were initially measured.

References

1. Alldrin, N., Zickler, T., and Kriegman, D. 2008. Photometric stereo with non-parametric and spatially-varying reflectance. In Computer Vision and Pattern Recognition.
2. Brown, M., and Lowe, D. 2005. Unsupervised 3D object recognition and reconstruction in unordered datasets. In Proc. Int. Conf. on 3D Digital Imaging and Modelling (3DIM).
3. Chen, T., Lensch, H. P. A., Fuchs, C., and Seidel, H.-P. 2007. Polarization and phase-shifting for 3d scanning of translucent objects. In Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR).
4. Chen, T., Seidel, H.-P., and Lensch, H. P. A. 2008. Modulated phase-shifting for 3D scanning. In Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR).
5. Cook, R. L., and Torrance, K. E. 1981. A reflectance model for computer graphics. Computer Graphics (SIGGRAPH 1981), 7--24.
6. Dana, K. J., van Ginneken, B., Nayar, S. K., and Koenderink, J. J. 1999. Reflectance and texture of real-world surfaces. ACM Transactions on Graphics 18, 1, 1--34.
7. Davis, J., Nehab, D., Ramamoorthi, R., and Rusinkiewicz, S. 2005. Spacetime stereo: A unifying framework for depth from triangulation. IEEE Trans. on Pattern Analysis and Machine Intelligence.
8. Debevec, P. E., Hawkins, T., Tchou, C., Duiker, H.-P., Sarokin, W., and Sagar, M. 2000. Acquiring the reflectance field of a human face. In SIGGRAPH, 145--156.
9. Esteban, C. H., Vogiatzis, G., and Cipolla, R. 2008. Multiview photometric stereo. IEEE Trans. Pattern Analysis and Machine Intelligence 30, 3 (Mar.), 548--554.
10. Furukawa, Y., and Ponce, J. 2008. Accurate camera calibration from multi-view stereo and bundle adjustment. In IEEE CVPR.
11. Garg, G., Talvala, E.-V., Levoy, M., and Lensch, H. P. A. 2006. Symmetric photography: Exploiting data-sparseness in reflectance fields. In Proc. of the Eurographics Symposium on Rendering (EGSR).
12. Georghiades, A. 2003. Recovering 3-d shape and reflectance from a small number of photographs. In Proceedings of the 14th Eurographics workshop on Rendering, 230--240.
13. Ghosh, A., Achutha, S., Heidrich, W., and O'Toole, M. 2007. Brdf acquisition with basis illumination. In Proc. IEEE ICCV.
14. Ghosh, A., Chen, T., Peers, P., Wilson, C. A., and Debevec, P. E. 2009. Estimating specular roughness and anisotropy from second order spherical gradient illumination. Comput. Graph. Forum 28, 4, 1161--1170.
15. Goesele, M., Lensch, H., Lang, J., Fuchs, C., and Seidel, H. 2004. DISCO: acquisition of translucent objects. ACM Transactions on Graphics (Proc. ACM SIGGRAPH), 835--844.
16. Goldman, D. B., Curless, B., Hertzmann, A., and Seitz, S. M. 2005. Shape and spatially-varying BRDFs from photometric stereo. In Proc. of the International Conference on Computer Vision (ICCV).
17. Guillemaut, J.-Y., Drbohlav, O., Sara, R., and Illingworth, J. 2004. Helmholtz stereopsis on rough and strongly textured surfaces. In 3D Data Processing, Visualization and Transmission (3DPVT), 10--17.
18. Gupta, M., Tian, Y., Narasimhan, S. G., and Zhang, L. 2009. (De)Focusing on Global Light Transport for Active Scene Recovery. In Proc. of the IEEE Conf. on Computer Vision and Pattern Recognition.
19. Han, J. Y., and Perlin, K. 2003. Measuring bidirectional texture reflectance with a kaleidoscope. (Proc. SIGGRAPH) 22, 3, 741--748.
20. Harris, C., and Stephens, M. 1988. A combined corner and edge detector. In Alvey Vision Conference, 147--151.
21. Hernández, C., Vogiatzis, G., and Cipolla, R. 2008. Multiview photometric stereo. IEEE Trans. Pattern Analysis and Machine Intelligence, 548--554.
22. Holroyd, M., Lawrence, J., Humphreys, G., and Zickler, T. 2008. A photometric approach for estimating normals and tangents. ACM Trans. on Graphics (Proc. of SIGGRAPH Asia) 27, 5.
23. Holroyd, M., Lawrence, J., and Zickler, T. 2010. A radiometric analysis of projected sinusoidal illumination for opaque surfaces. Tech. Rep. CS-2010-7, University of Virginia, May.
24. Ihrke, I., Kutulakos, K. N., Lensch, H. P. A., Magnor, M., and Heidrich, W. 2008. State of the art in transparent and specular object reconstruction. In STAR Proceedings of Eurographics.
25. Kazhdan, M., Bolitho, M., and Hoppe, H. 2006. Poisson surface reconstruction. In Proc. of the Eurographics Symposium on Geometry Processing.
26. Lawrence, J., Ben-Artzi, A., DeCoro, C., Matusik, W., Pfister, H., Ramamoorthi, R., and Rusinkiewicz, S. 2006. Inverse shade trees for non-parametric material representation and editing. ACM Trans. Graph 25, 3, 735--745.
27. Lensch, H. P. A., Heidrich, W., and Seidel, H.-P. 2001. A silhouette-based algorithm for texture registration and stitching. Graphical Models 64, 4, 245--262.
28. Lensch, H. P. A., Kautz, J., Goesele, M., and Heidrich, W. 2003. Image-based reconstruction of spatial appearance and geometric detail. ACM Transactions on Graphics 22, 2.
29. Lourakis, M., and Argyros, A. 2004. The design and implementation of a generic sparse bundle adjustment software package based on the levenberg-marquardt algorithm. Tech. rep.
30. Lu, J., and Little, J. 1999. Reflectance and shape from images using a collinear light source. Int. Journal of Computer Vision 32, 3, 213--240.
31. Ma, W.-C., Hawkins, T., Peers, P., Chabert, C.-F., Weiss, M., and Debevec, P. 2007. Rapid acquisition of specular and diffuse normals from polarized spherical gradient illumination. In Eurographics Symposium on Rendering.
32. Marschner, S. R. 1998. Inverse Rendering for Computer Graphics. PhD thesis, Cornell University.
33. Müller, G., Bendels, G., and Klein, R. 2005. Rapid synchronous acquisition of geometry and appearance of cultural heritage artefacts. In Proc. of VAST.
34. Nayar, S. K., Krishnan, G., Grossberg, M. D., and Raskar, R. 2006. Fast separation of direct and global components of a scene using high frequency illumination. ACM Transactions on Graphics (Proc. SIGGRAPH) 25, 3, 935--944.
35. Nicodemus, F., Richmond, J., Hsia, J., Ginsberg, I., and Limperis, T. 1977. Geometrical considerations and nomenclature for reflectance. National Bureau of Standards Monograph 160.
36. Sato, Y., Wheeler, M. D., and Ikeuchi, K. 1997. Object shape and reflectance modeling from observation. In Proc. of SIGGRAPH.
37. Seitz, S., Curless, B., Diebel, J., Scharstein, D., and Szeliski, R. 2006. A comparison and evaluation of multi-view stereo reconstruction algorithms. In Proc. of IEEE ICCV, 519--528.
38. Srinivasan, V., Liu, H. C., and Halioua, M. 1985. Automated phase-measuring profilometry: A phase mapping approach. Applied Optics 24, 185--188.
39. Strand, J., and Taxt, T. 1999. Performance evaluation of 2d phase unwrapping algorithms. Applied Optics 38, 20, 4333--4344.
40. Weyrich, T., Matusik, W., Pfister, H., Bickel, B., Donner, C., Tu, C., McAndless, J., Lee, J., Ngan, A., Jensen, H. W., and Gross, M. H. 2006. Analysis of human faces using a measurement-based skin reflectance model. ACM Trans. Graph 25, 3, 1013--1024.
41. Yu, Y., Debevec, P., Malik, J., and Hawkins, T. 1999. Inverse global illumination: Recovering reflectance models of real scenes from photographs. In Proc. of SIGGRAPH.
42. Zhang, L., and Nayar, S. K. 2006. Projection defocus analysis for scene capture and image display. ACM Trans. on Graphics (Proc. SIGGRAPH) 25, 3.
43. Zhang, L., Curless, B., and Seitz, S. M. 2003. Spacetime stereo: Shape recovery for dynamic scenes. In Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR).
44. Zhang, Z. 1994. Iterative point matching for registration of free-form curves and surfaces. International Journal of Computer Vision 13, 2, 119--152.
45. Zhang, Z. 2000. A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22, 11.
46. Zickler, T., Belhumeur, P. N., and Kriegman, D. J. 2002. Helmholtz stereopsis: Exploiting reciprocity for surface reconstruction. International Journal of Computer Vision 49, 2--3, 215--227.
47. Zickler, T. E. 2006. Reciprocal image features for uncalibrated helmholtz stereopsis. In IEEE Computer Vision and Pattern Recognition or CVPR, II: 1801--1808.

Index Terms

• Computing methodologies

  • Artificial intelligence

    • Computer vision

      • Image and video acquisition

        • 3D imaging

  • Computer graphics

    • Animation

    • Rendering

      • Reflectance modeling

    • Shape modeling

• Theory of computation

  • Randomness, geometry and discrete structures