Computer Vision Radiometry Bahadir K Gunturk Radiometry n
Computer Vision Radiometry Bahadir K. Gunturk
Radiometry n Radiometry is the part of image formation concerned with the relation among the amounts of q q q light energy emitted from light sources, reflected from surfaces, and registered by sensors. Bahadir K. Gunturk 2
Foreshortening n n A big source, viewed at a glancing angle, must produce the same effect as a small source viewed frontally. This phenomenon is known as foreshortening. Bahadir K. Gunturk 3
Solid Angle n Solid angle is defined by the projected area of a surface patch onto a unit sphere of a point. (Solid angle is subtended by a point and a surface patch. ) Bahadir K. Gunturk 4
Solid Angle n Arc length r Bahadir K. Gunturk 5
Solid Angle n Solid angle is defined by the projected area of a surface patch onto a unit sphere of a point. Bahadir K. Gunturk 6
Solid Angle n Similarly, solid angle due to a line segment is r Bahadir K. Gunturk 7
Radiance n n n The distribution of light in space is a function of position and direction. The appropriate unit for measuring the distribution of light in space is radiance, which is defined as the power (the amount of energy per unit time) traveling at some point in a specified direction, per unit area perpendicular to the direction of travel, per unit solid angle. In short, radiance is the amount of light radiated from a point… (into a unit solid angle, from a unit area). Radiance = Power / (solid angle x foreshortened area) W/sr/m 2 W is Watt, sr is steradian, m 2 is meter-squared Bahadir K. Gunturk 9
Radiance n Radiance from d. S to d. R Radiance = Power / (solid angle x foreshortened area) Bahadir K. Gunturk 10
Radiance n Example: Infinitesimal source and surface patches Radiance = Power / (solid angle x foreshortened area) Radiance at x 1 leaving to x 2 Illuminated surface Source Bahadir K. Gunturk 11
Radiance = Power / (solid angle x foreshortened area) Power at x 1 leaving to x 2 Illuminated surface Source Bahadir K. Gunturk 12
Radiance n The medium is vacuum, that is, it does not absorb energy. Therefore, the power reaching point x 2 is equal to the power leaving for x 2 from x 1. Power at x 2 from direction x 1 is Illuminated surface Let the radiance arriving at x 2 from the direction of x 1 is Source Bahadir K. Gunturk 13
Radiance n Radiance is constant along a straight line. Illuminated surface Source Bahadir K. Gunturk 14
Point Source n n n Many light sources are physically small compared with the environment in which they stand. Such a light source is approximated as an extremely small sphere, in fact, a point. Such a light source is known as a point source. Bahadir K. Gunturk 16
Radiance Intensity n If the source is a point source, we use radiance intensity. Radiance intensity = Power / (solid angle) Illuminated surface Source Bahadir K. Gunturk 17
Light at Surfaces n n When light strikes a surface, it may be absorbed, transmitted, or scattered; usually, combination of these effects occur. It is common to assume that all effects are local and can be explained with a local interaction model. In this model: q q q The radiance leaving a point on a surface is due only to radiance arriving at this point. Surfaces do not generate light internally and treat sources separately. Light leaving a surface at a given wavelength is due to light arriving at that wavelength. Bahadir K. Gunturk 18
Light at Surfaces n In the local interaction model, fluorescence, [absorb light at one wavelength and then radiate light at a different wavelength], and emission [e. g. , warm surfaces emits light in the visible range] are neglected. Bahadir K. Gunturk 19
Irradiance n Irradiance is the total incident power per unit area. Irradiance = Power / Area Bahadir K. Gunturk 20
Irradiance n What is the irradiance due to source from angle Bahadir K. Gunturk ? 21
Irradiance n What is the irradiance due to source from angle Bahadir K. Gunturk ? 22
Irradiance n What is the total irradiance? Integrate over the whole hemisphere. Exercise: Suppose the radiance is constant from all directions. Calculate the irradiance. Bahadir K. Gunturk 23
Irradiance n Exercise: Calculate the irradiance at O due to a plate source at O’. Bahadir K. Gunturk 24
Irradiance due to a Point Source n For a point source, Bahadir K. Gunturk 25
The Relationship Between Image Intensity and Object Radiance Diameter of lens We assume that there is no power loss in the lens. The power emitted to the lens is Radiance of object Bahadir K. Gunturk 26
The Relationship Between Image Intensity and Object Radiance Diameter of lens The solid angle for the entire lens is The power emitted to the lens is Bahadir K. Gunturk 27
The Relationship Between Image Intensity and Object Radiance Diameter of lens The solid angle at O can be written in two ways. Note that Therefore Bahadir K. Gunturk 28
The Relationship Between Image Intensity and Object Radiance Diameter of lens Combine to get Bahadir K. Gunturk 29
The Relationship Between Image Intensity and Object Radiance Diameter of lens Therefore the irradiance on the image plane is The irradiance is converted to pixel intensities, which is directly proportional to the radiance of the object. Bahadir K. Gunturk 30
Surface Characteristics n n We want to describe the relationship between incoming light and reflected light. This is a function of both the direction in which light arrives at a surface and the direction in which it leaves. Bahadir K. Gunturk 31
Bidirectional Reflectance Distribution Function (BRDF) n BRDF is defined as the ratio of the radiance in the outgoing direction to the incident irradiance. Bahadir K. Gunturk 32
Bidirectional Reflectance Distribution Function (BRDF) n The radiance leaving a surface due to irradiance in a particular direction is easily obtained from the definition of BRDF: Bahadir K. Gunturk 33
Bidirectional Reflectance Distribution Function (BRDF) n The radiance leaving a surface due to irradiance in all incoming directions is where Omega is the incoming hemisphere. Bahadir K. Gunturk 34
Lambertian Surface n A Lambertian surface has constant BRDF. constant Bahadir K. Gunturk 35
Lambertian Surface n n A Lambertian surface looks equally bright from any view direction. The image intensities of the surface only changes with the illumination directions. constant Bahadir K. Gunturk 36
Lambertian Surface n For a Lambertian surface, the outgoing radiance is proportional to the incident radiance. constant n If the light source is a point source, a pixel intensity will only be a function of Remember, for a point source Bahadir K. Gunturk 37
Specular Surface n n The glossy or mirror like surfaces are called specular surfaces. Radiation arriving along a particular direction can only leave along the specular direction, obtained from the surface normal. *The term Specular comes from the Latin word speculum, meaning mirror. Bahadir K. Gunturk 38
Specular Surface n Few surfaces are ideally specular. Specular surfaces commonly reflect light into a lobe of directions around the specular direction. Bahadir K. Gunturk 39
Lambertian + Specular Model n n Relatively few surfaces are either ideal diffuse or perfectly specular. The BRDF of many surfaces can be approximated as a combination of a Lambertian component and a specular component. Bahadir K. Gunturk 40
Lambertian + Specular Model Lambertian Bahadir K. Gunturk Lambertian + Specular 41
Radiosity n n Radiosity, defined as the total power leaving a point. To obtain the radiosity of a surface at a point, we can sum the radiance leaving the surface at that point over the whole hemisphere. Bahadir K. Gunturk 42
Part II Shading Bahadir K. Gunturk
Point Source n For a point source, Bahadir K. Gunturk 44
A Point Source at Infinity n The radiosity due to a point source at infinity is Bahadir K. Gunturk 45
Local Shading Models for Point Sources n The radiosity due to light generated by a set of point sources is Radiosity due to source s Bahadir K. Gunturk 46
Local Shading Models for Point Sources n If all the sources are point sources at infinity, then Bahadir K. Gunturk 47
Ambient Illumination n n For some environments, the total irradiance a patch obtains from other patches is roughly constant and roughly uniformly distributed across the input hemisphere. In such an environment, it is possible to model the effect of other patches by adding an ambient illumination term to each patch’s radiosity. + B 0 Bahadir K. Gunturk 48
Photometric Stereo n If we are given a set of images of the same scene taken under different given lighting sources, can we recover the 3 D shape of the scene? Bahadir K. Gunturk 49
Photometric Stereo n For a point source and a Lambertian surface, we can write the image intensity as n Suppose we are given the intensities under three lighting conditions: Camera and object are fixed, so a particular pixel intensity is only a function of lighting direction si. Bahadir K. Gunturk 50
Photometric Stereo n Stack the pixel intensities to get a vector n The surface normal can be found as n Since n is a unit vector Bahadir K. Gunturk 51
Photometric Stereo n If we have more than three sources, we can find the least squares estimate using the pseudo inverse: n As a result, we can find the surface normal of each point, hence the 3 D shape Bahadir K. Gunturk 52
Photometric Stereo n When the source directions are not given, they can be estimated from three known surface normals. Bahadir K. Gunturk 53
Photometric Stereo Bahadir K. Gunturk 54
Photometric Stereo Surface normals Bahadir K. Gunturk 3 D shape 55
Photometric Stereo (by Xiaochun Cao) Bahadir K. Gunturk 56
Photometric Stereo Bahadir K. Gunturk (by Xiaochun Cao) 57
- Slides: 55