Stereo Vision, a technique aimed at inferring depth information from stereo images, has been used in a wide range of computer vision applications, with real-time requirements in emerging embedded vision systems. Computation of the disparity map, a vital step in extracting depth information from stereo images, requires a significant amount of computational resources. As such, existing software implementations require high-end hardware platforms to achieve real-time frame rates, suggesting that dedicated hardware mechanisms might be more suitable for embedded applications. In this paper, we present a disparity map computation architecture targeting embedded stereo vision applications with hard real-time requirements. The architecture integrates a hardware edge detection mechanism that reduces the search space, improving the overall performance, and is configurable in terms of various application parameters, making it suitable for a number of application environments. The paper also presents a study on the impact of the various parameters in terms of the performance and hardware/power overheads. An experimental prototype of the architecture was implemented on the Xilinx ML505 FPGA Evaluation Platform, achieving 50 Frames Per Second (fps) for 1,280 × 1,024 image sizes. Moreover, the quality of the disparity maps generated by the proposed system is comparable to other existing hardware implementations featuring local stereo correspondence methods.

Stereoscopic 3D reconstruction is an important algorithm in the field of Computer Vision, with a variety of applications in embedded and real-time systems. Existing software-based implementations cannot satisfy the performance requirements for such constrained systems; hence an embedded hardware mechanism might be more suitable. In this paper, we present an architecture of a 3D reconstruction system for stereoscopic images, which we implement on Virtex2 Pro FPGA. The architecture uses a Sobel edge detector to achieve real-time (75 fps) performance, and is configurable in terms of various application parameters, making it suitable for a number of application environments. The paper also presents a design exploration on algorithmic parameters such as disparity range, correlation window size, and input image size, illustrating the impact on the performance for each parameter.

Humans have the ability to identify objects under varying lighting conditions with extraordinary accuracy. We investigated the behavioral aspects of this ability and compared it to the performance of the illumination cones (IC) model of Belhumeur and Kriegman [1998]. In five experiments, observers learned 10 faces under a small subset of illumination directions. We then tested observers' recognition ability under different illuminations. Across all experiments, recognition performance was found to be dependent on the distance between the trained and tested illumination directions. This effect was modulated by the nature of the trained illumination directions. Generalizations from frontal illuminations were different than generalizations from extreme illuminations. Similarly, the IC model was also sensitive to whether the trained images were near-frontal or extreme. Thus, we find that the nature of the images in the training set affects the accuracy of an object's representation under variable lighting for both humans and the model. Beyond this general correspondence, the microstructure of the generalization patterns for both humans and the IC model were remarkably similar, suggesting that the two systems may employ related algorithms.

Interesting textures form on the surfaces of objects as the result of external chemical, mechanical, and biological agents. Simulating these textures is necessary to generate models for realistic image synthesis. The textures formed are progressively variant, with the variations depending on the global and local geometric context. We present a method for capturing progressively varying textures and the relevant context parameters that control them. By relating textures and context parameters, we are able to transfer the textures to novel synthetic objects. We present examples of capturing chemical effects, such as rusting; mechanical effects, such as paint cracking; and biological effects, such as the growth of mold on a surface. We demonstrate a user interface that provides a method for specifying where an object is exposed to external agents. We show the results of complex, geometry-dependent textures evolving on synthetic objects.

Under the Lambertian reflectance model, uncalibrated photometric stereo with unknown light sources is inherently ambiguous. In this paper, we consider the use of a more general reflectance model, namely the Torrance and Sparrow model, in uncalibrated photometric stereo. We demonstrate that this can not only resolve the ambiguity when the light sources are unknown, but can also result in more accurate surface reconstructions and can capture the reflectance properties of a large number of nonLambertian surfaces. Our method uses single light source images with unknown lighting and no knowledge about the parameters of the reflectance model. It can recover the 3D shape of surfaces (up to the binary convex/concave ambiguity) together with their reflectance properties. We have successfully tested our algorithm on a variety of nonLambertian surfaces demonstrating the effectiveness of our approach. In the case of human faces, the estimated skin reflectance has been shown to closely resemble the measured skin reflectance reported in the literature. We also demonstrate improved recognition results on 4050 images of 10 faces with variable lighting and viewpoint when the synthetic image-based representations of the faces are generated using the surface reconstructions and reflectance properties recovered while assuming the extended reflectance model.

We present a generative appearance-based method for recognizing human faces under variation in lighting and viewpoint. Our method exploits the fact that the set of images of an object in fixed pose, but under all possible illumination conditions, is a convex cone in the space of images. Using a small number of training images of each face taken with different lighting directions, the shape and albedo of the face can be reconstructed. In turn, this reconstruction serves as a generative model that can be used to render (or synthesize) images of the face under novel poses and illumination conditions. The pose space is then sampled and, for each pose, the corresponding illumination cone is approximated by a low-dimensional linear subspace whose basis vectors are estimated using the generative model. Our recognition algorithm assigns to a test image the identity of the closest approximated illumination cone. Test results show that the method performs almost without error, except on the most extreme lighting directions.

Image variability due to changes in pose and illumination can seriously impair object recognition. This paper presents appearance-based methods which, unlike previous appearance-based approaches, require only a small set of training images to generate a rich representation that models this variability. Specifically, from as few as three images of an object in fixed pose seen under slightly varying but unknown lighting, a surface and an albedo map are reconstructed. These are then used to generate synthetic images with large variations in pose and illumination and thus build a representation useful for object recognition. Our methods have been tested within the domain of face recognition on a subset of the Yale Face Database B containing 4050 images of 10 faces seen under variable pose and illumination. This database was specifically gathered for testing these generative methods. Their performance is shown to exceed that of popular existing methods.

Due to illumination variability, the same object can appear dramatically different even when viewed in fixed pose. To handle this variability, an object recognition system must employ a representation that is either invariant to, or models this variability. This paper presents an appearance-based method for modeling the variability due to illumination in the images of objects. The method differs from past appearance-based methods, however, in that a small set of training images is used to generate a representation-the illumination cone-which models the complete set of images of an object with Lambertian reflectance map under an arbitrary combination of point light sources at infinity. This method is both an implementation and extension (an extension in that it models cast shadows) of the illumination cone representation proposed in Belhumeur and Kriegman (1996). The method is tested on a database of 660 images of 10 faces, and the results exceed those of popular existing methods.