屈折光線場特徴による曲面透明物体のStructure from Motion
Refractive Light-Field Features for Curved Transparent Objects in Structure from Motion
ライトフィールドカメラで曲面透明物体を通して屈折する光のパターンを検出・記述する新特徴量を提案し、従来の2D特徴の代わりに用いることで透明物体を含む難シーンでのSfM精度と収束率を改善した。
著者: Dorian Tsai, Peter Corke, Thierry Peynot, Donald G. Dansereau
分類: cs.RO, cs.CV
原文アブストラクト
Curved refractive objects are common in the human environment, and have a complex visual appearance that can cause robotic vision algorithms to fail. Light-field cameras allow us to address this challenge by capturing the view-dependent appearance of such objects in a single exposure. We propose a novel image feature for light fields that detects and describes the patterns of light refracted through curved transparent objects. We derive characteristic points based on these features allowing them to be used in place of conventional 2D features. Using our features, we demonstrate improved structure-from-motion performance in challenging scenes containing refractive objects, including quantitative evaluations that show improved camera pose estimates and 3D reconstructions. Additionally, our methods converge 15-35% more frequently than the state-of-the-art. Our method is a critical step towards allowing robots to operate around refractive objects, with applications in manufacturing, quality assurance, pick-and-place, and domestic robots working with acrylic, glass and other transparent materials.
