Calculation Of Surface Position And Orientation From A Single Shaded Image

Byungii Kim; Peter Burger

doi:10.1117/12.950270

2 March 1989 Calculation Of Surface Position And Orientation From A Single Shaded Image

Byungii Kim, Peter Burger

Proceedings Volume 1027, Image Processing II; (1989) https://doi.org/10.1117/12.950270
Event: 1988 International Congress on Optical Science and Engineering, 1988, Hamburg, Germany

Abstract

An iterative scheme for computing the three-dimensional position and the surface orientation of an opaque object from a single shaded image is proposed. This method demonstrates that calculating the depth (distance) between the camera and the object from one shaded video image is possible. Most previous research work on this "Shape from Shading" problem involved the determination of surface orientation only. To measure the depth of an object, a point light source is used. We have estabilished an expression for the image intensity which depends on the light source position, surface orientation of the object, depth of the object, and the reflectance properties of the surface. Assuming that the object surface is uniform Lambertian the measured intensity level at a given pixel becomes the function of the surface orientation and the depth. To solve this non-linear equation, the surface also has to satisfy smoothness conditions. The equation is solved iteratively using standard methods of calculus of variation. The theoretical result is tested by experiments. Three objects (plane, cylinder, and sphere) are used. These initial results are very encouraging since they match the theoretical calculations within 10% error.

Citation Download Citation

Byungii Kim and Peter Burger "Calculation Of Surface Position And Orientation From A Single Shaded Image", Proc. SPIE 1027, Image Processing II, (2 March 1989); https://doi.org/10.1117/12.950270

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