On 3-D Surface Reconstruction Using Shape from Shadows
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Shadow Graphs and 3D Texture Reconstruction
International Journal of Computer Vision - Special Issue on Texture Analysis and Synthesis
3D Reconstruction by Shadow Carving: Theory and Practical Evaluation
International Journal of Computer Vision
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Addresses the problem of estimating 3D space occupancy using video imagery in the context of mobile robotics. A stationary robot observes a cluttered scene from a single viewpoint, and a second robot illuminates the scene from a sequence of directions thus producing a sequence of grey-level images. Differences of successive images are used to compute a sequence of shadowimages. The problem is to compute free space and occupied space from these shadowimages. Solutions to this problem are known for the special case of terrain scenes. The authors generalize these solutions to non-terrain scenes by making two key observations. First, there is a subset constraint on the shadowimages of a non-terrain scene, which allows the visible surfaces of a non-terrain scene to be recovered by a terrain-based technique. Second, the remaining regions of the shadowimages provide a conservative estimate of the occupied space hidden by these visible surfaces.