Abstract
Automatic construction of high-resolution topographical maps, or determining the shape of man-made objects, targets, and obstacles for localization, identification, and/or recognition is an important capability in the application of autonomous or intelligent underwater vehicles. In this paper, we investigate the application of underwater image models for the reconstruction of three-dimensional object shapes from the shading cues in two-dimensional optical images. We first present the results of a sensitivity analysis in support of a simplified model for a Lambertian surface illuminated by a point source in an attenuating medium, proposed in earlier work. We then generalize a closed-form solution for planar scenes, previously proposed for negligible source-camera baseline, to the case where the baseline may be increased to minimize backscatter effects. For curved surfaces, we propose two techniques based on different iterative updating strategies to recursively improve the recovered surface shape. We study the performance of various methods using synthetic data and real images required under different turbidity conditions.
| Original language | English |
|---|---|
| Pages (from-to) | 100-116 |
| Number of pages | 17 |
| Journal | IEEE Journal of Oceanic Engineering |
| Volume | 27 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 1 2002 |
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Keywords
- 3-D mapping
- Ocean optics
- Shape from shading
- Underwater reflectance map
ASJC Scopus subject areas
- Oceanography
- Civil and Structural Engineering
- Electrical and Electronic Engineering
- Ocean Engineering
Cite this
3-D shape recovery of planar and curved surfaces from shading cues in underwater images. / Zhang, Shaomin; Negahdaripour, Shahriar.
In: IEEE Journal of Oceanic Engineering, Vol. 27, No. 1, 01.01.2002, p. 100-116.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - 3-D shape recovery of planar and curved surfaces from shading cues in underwater images
AU - Zhang, Shaomin
AU - Negahdaripour, Shahriar
PY - 2002/1/1
Y1 - 2002/1/1
N2 - Automatic construction of high-resolution topographical maps, or determining the shape of man-made objects, targets, and obstacles for localization, identification, and/or recognition is an important capability in the application of autonomous or intelligent underwater vehicles. In this paper, we investigate the application of underwater image models for the reconstruction of three-dimensional object shapes from the shading cues in two-dimensional optical images. We first present the results of a sensitivity analysis in support of a simplified model for a Lambertian surface illuminated by a point source in an attenuating medium, proposed in earlier work. We then generalize a closed-form solution for planar scenes, previously proposed for negligible source-camera baseline, to the case where the baseline may be increased to minimize backscatter effects. For curved surfaces, we propose two techniques based on different iterative updating strategies to recursively improve the recovered surface shape. We study the performance of various methods using synthetic data and real images required under different turbidity conditions.
AB - Automatic construction of high-resolution topographical maps, or determining the shape of man-made objects, targets, and obstacles for localization, identification, and/or recognition is an important capability in the application of autonomous or intelligent underwater vehicles. In this paper, we investigate the application of underwater image models for the reconstruction of three-dimensional object shapes from the shading cues in two-dimensional optical images. We first present the results of a sensitivity analysis in support of a simplified model for a Lambertian surface illuminated by a point source in an attenuating medium, proposed in earlier work. We then generalize a closed-form solution for planar scenes, previously proposed for negligible source-camera baseline, to the case where the baseline may be increased to minimize backscatter effects. For curved surfaces, we propose two techniques based on different iterative updating strategies to recursively improve the recovered surface shape. We study the performance of various methods using synthetic data and real images required under different turbidity conditions.
KW - 3-D mapping
KW - Ocean optics
KW - Shape from shading
KW - Underwater reflectance map
UR - http://www.scopus.com/inward/record.url?scp=0036260883&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036260883&partnerID=8YFLogxK
U2 - 10.1109/48.989895
DO - 10.1109/48.989895
M3 - Article
VL - 27
SP - 100
EP - 116
JO - IEEE Journal of Oceanic Engineering
JF - IEEE Journal of Oceanic Engineering
SN - 0364-9059
IS - 1
ER -