Abstract
An iterative scheme for computing the three-dimensional position and the surface orientation of an opaque object from a singel 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 works on $'Shape from Shading$' problem, even in the $'Photometric Stereo Method$', invoved the determination of surface orientation only. To measure the depth of an 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 image pixel*x,y0becomes a function of surface orientation and depth component of the object. Derived Image Irradiance Equation can`t be solved without further informations since three unknown variables(p,q and D) are in one nonlinear equation. As an additional constraints we assume that surface satisfy smoothness conditions. Then equation can be solved relaxatively using standard methods of TEX>$'Calculus of VariationTEX>$'. After checking the sensitivity of the algorithm to the errors ininput parameters, the theoretical results is tested by experiments. Three objects (plane, cylinder, and sphere)are used. Thees initial results are very encouraging since they match the theoretical calculations within 20$\%$ error in simple experiments.> error in simple experiments.
본 논문은 단시안에 투영된 3차원 물체의 Image에서 측정된 명암강도의 차이를 이용하여 3차원 물체의 절대거리 z 및 형상을 유출하는 수치적인 방법을 연구, 단시안에 의해서도 Camera와 물체사이의 3차원 절대거리가 구해질 수 있음을 보여주고 있다. 기발표된 이론과는 다르게 본 논문에서는 점광원을 이용하여 투영된 명암강도와 3차원 물체의 절대거리 및 형상과의 관계를 물체가 Uniform Lambertian이라는 가정하에서 새로운 관계식으로 정립하였다. 정립된 Non-Linear 관계식은 Smoothness 조건아래 $'Calculus of Variation$'방법을 사용하여 수학적 Algorithm으로 정리되어 Programming 되었고 간단한 실험방법을 이용하여 실제 Data에 적용시켜 그 타당성을 조사하였다.당성을 조사하였다.