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Poster Session 2
10:15 - 11:15 - May 20 (Thursday)

Session chair: Bob Fisher, University of Edinburgh

3D Photography and Image-based Rendering

Improving the accuracy of fast dense stereo correspondence algorithms by enforcing local consistency of disparity fields
Stefano Mattoccia UNIVERSITY OF BOLOGNA DEIS-ARCES, ITALY Accurate, dense 3D reconstruction is an important requirement in many applications, and stereo represents a viable alternative to active sensors. However, top-ranked stereo algorithms rely on iterative 2D disparity optimization methods for energy minimization that are not well suited to the fast and/or hardware implementation often required in practice. An exception is represented by the approaches that perform disparity optimization in one dimension (1D) by means of scanline optimization (SO) or dynamic programming (DP). Recent SO/DP-based approaches aim to avoid the well known streaking effect by enforcing vertical consistency between scanlines deploying aggregated costs, aggregating multiple scanlines, or performing energy minimization on a tree. In this paper we

May 20 (Thursday) - 10:15 - 11:15

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http://campwww.informatik.tu-muenchen.de/3DPVT2010/data/media/e-proceed ... show that the accuracy of two fast SO/DP-based approaches can be dramatically improved by exploiting a non-iterative methodology that, by modeling the coherence within neighboring points, enforces the local consistency of disparity fields. Our proposal allows us to obtain top-ranked results on the standard Middlebury dataset and, thanks to its computational structure and its reduced memory requirements, is potentially suited to fast and/or hardware implementations.

Presented by Stefano Mattoccia

Planar patch detection for disparity maps

Eric Bughin1, Andrs Almansa 2 1CMLA - ENS CACHAN, F RANCE, 2ENST TELECOM PARISTECH , F RANCE

May 20 (Thursday) - 10:15 - 11:15

We propose a new parameter-free method for detecting planar patches in disparity maps. We first introduce an a contrario decision criterion which may be used to solve two decision problems on configurations of 3D points: (i) is the configuration well explained by a plane?; (ii) what is the optimal number of planes that best explains the configuration? These decision criteria are the core of an algorithm that searches for an optimal explanation of a disparity map by planar patches whenever applicable. This method may be used for 3D reconstruction of urban environments, particularly in the context of low-baseline stereo where precision requirements are most strict, and a pertinent choice of the type and amount of regularization is key to achieving accurate results.

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Presented by Eric Bughin

Bas-Relief Ambiguity Reduction in Shape from Shadowgrams

May 20 (Thursday) - 10:15 - 11:15

Jamil Drarni1, Sbastien Roy2, Peter Sturm3 1UNIVERSIT DE MONTRAL, CANADA / INRIA-RHNE-ALPES, F RANCE , 2UNIVERSIT DE M ONTRAL, CANADA, 3INRIA-RHNE -ALPES, F RANCE Using shadowgrams for 3D reconstruction is inherently ambiguous. It has be shown that this ambiguity has 4 parameters. We show that, when the light spots are visible to the camera, the number of parameters drops to one.

Presented by Jamil Drarni

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A Probabilistic Approach to ToF and Stereo Data Fusion

Carlo Dal Mutto, Pietro Zanuttigh, Guido Maria Cortelazzo UNIVERSITY OF PADOVA, ITALY

May 20 (Thursday) - 10:15 - 11:15

Current 3D video applications require the availability of depth information, that can be acquired real-time by stereo vision systems and ToF cameras. In this paper, a heterogeneous acquisition system is considered, made of two high resolution standard cameras (stereo pair) and one ToF camera. The stereo system and the ToF camera must be properly calibrated together in order to operate jointly. Therefore this work introduces first a generalized multi-camera calibration technique which does not exploit only the luminance (color) information, but also the depth information extracted by the ToF camera. A probabilistic algorithm is then derived in order to obtain high quality depth information from the information of both the ToF camera and the stereo-pair. Experimental results show that the proposed calibration algorithm leads to a very accurate calibration suitable for the fusion algorithm, that allows for precise extraction of the depth information.

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Single-view Perspective Shape-from-Texture with Focal Length Estimation: A Piecewise Affine Approach

May 20 (Thursday) - 10:15 - 11:15

Toby Collins1, Jean-Denis Durou2, Pierre Gurdjos3, Adrien Bartoli4 1UNIVERSIT D'AUVERGNE ,FRANCE, 2IRIT, UNIVERSIT PAUL S ABATIER, F RANCE &CMLA, ENS CACHAN, CNRS, UNIVER SUD, F RANCE, 3IRIT, ENSEEIHT, FRANCE, 4UNIVERSIT D'AUVERGNE , F RANCE We present a new formulation to the well known problem of 3D shapefrom-texture from a single image, but one which is able to handle uncalibrated perspective cameras. Contrary to previous methods, we cast the task as multi-plane based camera pose estimation whereby the information provided by a textured surface makes it possible to perform shapefrom-texture and camera focal length estimation jointly. We show that by approximating global perspective by local scaled orthography (which holds often in practical cases) we can acquire depth, surface orientation and focal length from a single image in closed form. This advances state-of-the-art where a calibrated camera is nearly always assumed in order to compute 3D shape from a single image.

Presented by Toby Collins

A statistical illumination-reflectance separation algorithm for the multispectral acquisition of frescoes

Anna Paviotti, Guido Maria Cortelazzo

May 20 (Thursday) - 10:15 - 11:15

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UNIVERSITY

OF

PADOVA, ITALY

The multispectral acquisition of frescoes poses unsolved challenges, the main difficulty being that it is often impos- sible to measure the reference white signal. We propose a statistical method to estimate the illumination directly from the color signal, based on a modification of the RANSAC al- gorithm. We apply our method to the estimation of the light- ing field of three paintings by contemporary Italian artists and of a fresco of the Castello del Buonconsiglio in Trento (Italy), for which a ground truth was available. Quanti- tative results show that the performance of our method is good in terms of the relative mean error on illumination and reflectance, while the maximum errors are sometimes significant.

Presented by Guido Maria Cortelazzo

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Real-time Incremental J-Linkage for Robust Multiple Structures Estimation

Roberto Toldo, Andrea Fusiello DIPARTIMENTO DI INFORMATICA - UNIVERSIT DI VERONA, ITALY

May 20 (Thursday) - 10:15 - 11:15

This paper describes an incremental, real-time implementation of J-linkage, a procedure that can detect multiple instances of a model from data corrupted by noise and outliers. It works in real-time, thanks to several approximations that have been introduced to get around the quadratic complexity of the original algorithm.

Presented by Roberto Toldo

3D Scanning Methods and Devices

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A Heightmap Model for Efficient 3D Reconstruction from Street-Level Video

David Gallup1, Jan-Michael Frahm1, Marc Pollefeys2 1UNIVERSITY OF NORTH CAROLINA, USA, 2ETH ZURICH, S WITZERLAND

May 20 (Thursday) - 10:15 - 11:15

This paper introduces a fast approach for automatic dense large-scale 3D urban reconstruction from video. The presented system uses a novel multi-view depthmap fusion algorithm where the surface is represented by a heightmap. While this model seems to be a more natural fit to aerial and satellite data, we have found it to also be a powerful representation for ground-level reconstructions. It has the advantage of producing purely vertical facades, and it also yields a continuous surface without holes. Compared to more general 3D reconstruction methods, our algorithm is more efficient, uses less memory, and produces more compact models at the expense of losing some detail. Our GPU implementation can compute a 200x200 heightmap from 64 depthmaps in just 92 milliseconds. We demonstrate our system on a variety of challenging ground-level datasets including large buildings, residential houses, and store front facades obtaining clean, complete, compact, and visually pleasing 3D models.

Presented by David Gallup

Stripe Propagation for Color Encoded Structured Light

May 20 (Thursday) - 10:15 - 11:15

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Michael Burisch, David Guerrero Ichaso, Arjan Kuijper FRAUNHOFER INSTITUTE FOR COMPUTER GRAPHICS RESEARCH IGD, GERMANY We present a 3D scanning system using color encoded structured light, which is able to reconstruct a surface using only a single image. The work is focused on exploiting the captured data and reconstructing as many points as possible. Therefore a multi-stage method is presented to reconstruct the surface from the captured pattern. It consists of i) a robust edge detection step, ii) a color decoding using feedback from previous stripes and iii) a propagation step to detect errors and propagate detected stripes. Using feedback from neighboring stripes and propagation along the stripe direction during color detection and sequence decoding, the system is able to recover areas where regular approaches fail, such as small bridges in geometry, and detect and correct false classifications. Depending on surface complexity we were able to achieve a significant increase in the amount of reconstructable points.

Presented by Michael Burisch

Active Triangulation in the Outdoors: A Photometric Analysis

David Ilstrup, Roberto Manduchi UC-SANTA CRUZ, USA

May 20 (Thursday) - 10:15 - 11:15

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http://campwww.informatik.tu-muenchen.de/3DPVT2010/data/media/e-proceed ... Active triangulation is a well established technique for collecting range points. This work performs a photometric analysis of relative irradiance expected at the camera sensor as a result of intended operating conditions and device specifications including laser power. The limiting effects of eye safety compliance, minimum realizable shutter times and pixel bit depth for linear response cameras are considered. Quantitative results are established determining dynamic range requirements on the camera, when exposure control is needed, and when laser return can be expected to produce the brightest pixels in the image.

Presented by David Ilstrup

Urban Scene Extraction from Mobile Ground Based LiDAR Data

May 20 (Thursday) - 10:15 - 11:15

Joseph Lam1, Michael Greenspan1, Robin Harrap1, Kresimir Kusevic2, Paul Mrstik2 1QUEEN 'S UNIVERSITY , CANADA, 2TERRAPOINT CANADA INC . Efficient methods for extracting urban scene structures from 3D data is important when dealing with the high volume data collected from mobile terrestrial LiDAR. Rather than searching for primitive shapes directly in the raw 3D data, we demonstrate that the road can be used as a cue for effectively localizing urban scene structures. Road extraction is done by dividing the road into many small sections, and Kalman filtering is then used

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http://campwww.informatik.tu-muenchen.de/3DPVT2010/data/media/e-proceed ... to track changes of road parameters using a dynamic model. By limiting the search space along the extracted road and using dimensional constraints, near-road structures such as posts and power line are easily segmented in an efficient manner. The algorithm performs consistently well on many different city scenes, with roads segmented accurately in an efficient manner and posts extracted even in the presence of other objects such as cars and trees.

Presented by Joseph Lam

3D Shape Retrieval and Recognition

Ridge Walking for 3D Surface Segmentation
Andrew Willis, Beibei Zhou UNIVERSITY OF NORTH CAROLINA AT CHARLOTTE, USA This paper describes a new 3D surface segmentation algorithm that separates a closed surfaces into regions by computing surface contours that traverse surface ridge structures. We refer to the approach as ridge-walking since these contours tend to follow convex ridge-like structures and/or concave valley-like structures present within the geometry of the model. Segmentation is achieved by solving for closed ridge contours on the surface, each of which serves to divide the surface into two disjoint regions.

May 20 (Thursday) - 10:15 - 11:15

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http://campwww.informatik.tu-muenchen.de/3DPVT2010/data/media/e-proceed ... Results for three different segmentation approaches based on this approach are compared: (1) concave ridge walking, (2) convex ridge walking and (3) mixed concave/convex ridge walking. We also compare our results with other leading segmentation methods on standard data sets as well as new datasets that provide important and interesting new challenges.

Presented by Andrew Willis

Conformal mapping-based 3D face recognition

1MI

May 20 (Thursday) - 10:15 - 11:15

Przemyslaw Szeptycki1, Mohsen Ardabilian1, Liming Chen1, Wei Zeng2, Davig Gu2, Dimitris Samaras2 DEPARTMENT , LIRIS LABORATORY, ECOLE CENTRALE DE LYON , FRANCE, 2COMPUTER SCIENCE DEPARTMENT , STONY BROOK UNIVERSITY , USA In this paper we present a conformal mapping-based approach for 3D face recognition. The proposed approach makes use of conformal UV parameterization for mapping purpose and Shape Index decomposition for similarity measurement. Indeed, according to conformal geometry theory, each 3D surface with disk topology can be mapped onto a 2D domain through a global optimization, resulting in a diffeomorphism, i.e., one-to-one and onto. This allows us to reduce the 3D surface matching problem to a 2D image matching one by comparing the corresponding 2D conformal geometric maps. To deal with facial expressions, the Mobius transformation of UV conformal space has been used to 'compress' face mimic region. Rasterized images are used as an input for (2D)2PCA recognition algorithm.

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Presented by Przemyslaw Szeptycki

ICP Fusion Techniques for 3D Face Recognition

Robert McKeon, Patrick Flynn UNIVERSITY OF NOTRE DAME , USA

May 20 (Thursday) - 10:15 - 11:15

The 3D shape of the face has been shown to be a viable and robust biometric for security applications. Many state of the art techniques use Iterative Closest Point (ICP) for 3D face matching. We propose and explore several optimizations of the ICP-based matching technique relating to the processing of multiple regions and the fusion of region matching scores obtained from ICP alignment. The optimizations explored included: (i) the symmetric use of probe and gallery face regions as ICP s model and data shapes, enabling score fusion; (ii) gallery and probe region matching score normalization; (iii) region selection based on face data centroid rather than the nose tip, and (iv) region weighting. As a result of these optimizations, the rank-one recognition rate for a canonical matching experiment improved from 96.4% to 98.6%, and the True Accept Rate (TAR) at 0.1% False Accept Rate (FAR) improved from 90.4% to 98.5%.

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Presented by Robert McKeon

Medical Imaging and Augmented Reality

Indoor Localization Algorithms for a HumanOperated Backpack System
May 20 (Thursday) - 10:15 - 11:15

George Chen, John Kua, Stephen Shum, Nikhil Naikal, Matthew Carlberg, Avideh Zakhor UC BERKELEY VIDEO AND IMAGE PROCESSING LAB, USA Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units, we develop four scan-matching-based algorithms to localize the backpack and compare their performance and tradeoffs. We present results for two datasets of a 30-meter-long indoor hallway and compare one of the best performing localization algorithms with a visual-odometry-based method. We find that our scan-matching-based approach results in comparable or higher accuracy.

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Presented by Avideh Zakhor

Virtu4D: a Real-time Virtualization of Reality

May 20 (Thursday) - 10:15 - 11:15

Mourad Boufarguine1, Malek Baklouti 1, Frederic Precioso2, Vincent Guitteny1 1THALES S ECURITY S OLUTIONS AND S ERVICES - RESEARCH DEPARTEMENT , FRANCE, 2ETIS ENSEA/CNRS/UNIV . CERGY-PONTOISE , FRANCE In video surveillance systems, when dealing with dynamic complex scenes, processing the information coming from multiple cameras and fusing them into a comprehensible environment is a challenging task. This work addresses the issue of providing a global and reliable representation of the monitored environment aiming at enhancing the perception and minimizing the operator's effort. The proposed system Virtu4D is based on 3D computer vision and virtual reality techniques and takes benefit from both the "real" and the "virtual" worlds offering a unique perception of the scene. This paper presents a short overview of the framework along with the different components of the design space: Video Model Layout, Video Processing and Immersive Model Generation. The final interface gathers the 2D information in the 3D context but also offers a complete 3D representation of the dynamic environment allowing a free intuitive 3D navigation.

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Presented by Mourad Boufarguine

Sparse Parallel Electronic Bowel Cleansing in CT Colonography

Richard Boyes, Xujiong Ye, Gareth Beddoe, Greg Slabaugh MEDICSIGHT PLC, UNITED KINGDOM

May 20 (Thursday) - 10:15 - 11:15

We present a technique for storing the sparse data that often occurs when processing three dimensional medical images. The technique uses raster scan order to store the one dimensional volume indexes of each pixel location, and stores an inverted copy of these indexes for fast lookup. The inverted index is stored as a Judy array which is shown to be highly efficient in lookup times while using very little memory compared to hash tables. We demonstrate the efficiency of the data structure by performing partial volume segmentation and digital removal of oral contrast agent within CT Colonography (CTC).

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Presented by Xujiong Ye

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