346 research outputs found
Microgeometry capture using an elastomeric sensor
No full textWe describe a system for capturing microscopic surface geometry. The system extends the retrographic sensor [Johnson and Adelson 2009] to the microscopic domain, demonstrating spatial resolution as small as 2 microns. In contrast to existing microgeometry capture techniques, the system is not affected by the optical characteristics of the surface being measured---it captures the same geometry whether the object is matte, glossy, or transparent. In addition, the hardware design allows for a variety of form factors, including a hand-held device that can be used to capture high-resolution surface geometry in the field. We achieve these results with a combination of improved sensor materials, illumination design, and reconstruction algorithm, as compared to the original sensor of Johnson and Adelson [2009].National Science Foundation (U.S.) (Grant 0739255)National Institutes of Health (U.S.) (Contract 1-R01-EY019292-01
Visual wetness perception based on image color statistics
No full textColor vision provides humans and animals with the abilities to discriminate colors based on the wavelength composition of light and to determine the location and identity of objects of interest in cluttered scenes (e.g., ripe fruit among foliage). However, we argue that color vision can inform us about much more than color alone. Since a trichromatic image carries more information about the optical properties of a scene than a monochromatic image does, color can help us recognize complex material qualities. Here we show that human vision uses color statistics of an image for the perception of an ecologically important surface condition (i.e., wetness). Psychophysical experiments showed that overall enhancement of chromatic saturation, combined with a luminance tone change that increases the darkness and glossiness of the image, tended to make dry scenes look wetter. Theoretical analysis along with image analysis of real objects indicated that our image transformation, which we call the wetness enhancing transformation, is consistent with actual optical changes produced by surface wetting. Furthermore, we found that the wetness enhancing transformation operator was more effective for the images with many colors (large hue entropy) than for those with few colors (small hue entropy). The hue entropy may be used to separate surface wetness from other surface states having similar optical properties. While surface wetness and surface color might seem to be independent, there are higher order color statistics that can influence wetness judgments, in accord with the ecological statistics. The present findings indicate that the visual system uses color image statistics in an elegant way to help estimate the complex physical status of a scene
Retrographic sensing for the measurement of surface texture and shape
No full textWe describe a novel device that can be used as a 2.5D "scanner" for acquiring surface texture and shape. The device consists of a slab of clear elastomer covered with a reflective skin. When an object presses on the skin, the skin distorts to take on the shape of the object's surface. When viewed from behind (through the elastomer slab), the skin appears as a relief replica of the surface. A camera records an image of this relief, using illumination from red, green, and blue light sources at three different positions. A photometric stereo algorithm that is tailored to the device is then used to reconstruct the surface. There is no problem dealing with transparent or specular materials because the skin supplies its own BRDF. Complete information is recorded in a single frame; therefore we can record video of the changing deformation of the skin, and then generate an animation of the changing surface. Our sensor has no moving parts (other than the elastomer slab), uses inexpensive materials, and can be made into a portable device that can be used "in the field" to record surface shape and texture
Sensing and Recognizing Surface Textures Using a GelSight Sensor
No full textSensing surface textures by touch is a valuable capability for robots. Until recently it was difficult to build a compliant sensor with high sensitivity and high resolution. The GelSight sensor is compliant and offers sensitivity and resolution exceeding that of the human fingertips. This opens the possibility of measuring and recognizing highly detailed surface textures. The GelSight sensor, when pressed against a surface, delivers a height map. This can be treated as an image, and processed using the tools of visual texture analysis. We have devised a simple yet effective texture recognition system based on local binary patterns, and enhanced it by the use of a multi-scale pyramid and a Hellinger distance metric. We built a database with 40 classes of tactile textures using materials such as fabric, wood, and sandpaper. Our system can correctly categorize materials from this database with high accuracy. This suggests that the GelSight sensor can be useful for material recognition by robots
Playing with Puffball: Simple Scale-Invariant Inflation for Use in Vision and Graphics
No full textWe describe how inflation, the act of mapping a 2D silhouette to a 3D region, can be applied in two disparate problems to offer insight and improvement: silhouette part segmentation and image-based material transfer. To demonstrate this, we introduce Puffball, a novel inflation technique, which achieves similar results to existing inflation approaches -- including smoothness, robustness, and scale and shift-invariance -- through an exceedingly simple and accessible formulation. The part segmentation algorithm avoids many of the pitfalls of previous approaches by finding part boundaries on a canonical 3-D shape rather than in the contour of the 2-D shape; the algorithm gives reliable and intuitive boundaries, even in cases where traditional approaches based on the 2D Minima Rule are misled. To demonstrate its effectiveness, we present data in which subjects prefer Puffball's segmentations to more traditional Minima Rule-based segmentations across several categories of silhouettes. The texture transfer algorithm utilizes Puffball's estimated shape information to produce visually pleasing and realistically synthesized surface textures with no explicit knowledge of either underlying shape.National Eye Institute (Special Training Grant
Band-Sifting Decomposition for Image-Based Material Editing
No full textPhotographers often "prep" their subjects to achieve various effects; for example, toning down overly shiny skin, covering blotches, etc. Making such adjustments digitally after a shoot is possible, but difficult without good tools and good skills. Making such adjustments to video footage is harder still. We describe and study a set of 2D image operations, based on multiscale image analysis, that are easy and straightforward and that can consistently modify perceived material properties. These operators first build a subband decomposition of the image and then selectively modify the coefficients within the subbands. We call this selection process band sifting. We show that different siftings of the coefficients can be used to modify the appearance of properties such as gloss, smoothness, pigmentation, or weathering. The band-sifting operators have particularly striking effects when applied to faces; they can provide "knobs" to make a face look wetter or drier, younger or older, and with heavy or light variation in pigmentation. Through user studies, we identify a set of operators that yield consistent subjective effects for a variety of materials and scenes. We demonstrate that these operators are also useful for processing video sequences
Recognizing Materials Using Perceptually Inspired Features
No full textOur world consists not only of objects and scenes but also of materials of various kinds. Being able to recognize the materials that surround us (e.g., plastic, glass, concrete) is important for humans as well as for computer vision systems. Unfortunately, materials have received little attention in the visual recognition literature, and very few computer vision systems have been designed specifically to recognize materials. In this paper, we present a system for recognizing material categories from single images. We propose a set of low and mid-level image features that are based on studies of human material recognition, and we combine these features using an SVM classifier. Our system outperforms a state-of-the-art system (Varma and Zisserman, TPAMI 31(11):2032–2047, 2009) on a challenging database of real-world material categories (Sharan et al., J Vis 9(8):784–784a, 2009). When the performance of our system is compared directly to that of human observers, humans outperform our system quite easily. However, when we account for the local nature of our image features and the surface properties they measure (e.g., color, texture, local shape), our system rivals human performance. We suggest that future progress in material recognition will come from: (1) a deeper understanding of the role of non-local surface properties (e.g., extended highlights, object identity); and (2) efforts to model such non-local surface properties in images
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force
No full textTactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor surface and high-resolution sensing of geometry should be important components of a competent tactile sensor. In this paper, we discuss the development of a vision-based optical tactile sensor, GelSight. Unlike the traditional tactile sensors which measure contact force, GelSight basically measures geometry, with very high spatial resolution. The sensor has a contact surface of soft elastomer, and it directly measures its deformation, both vertical and lateral, which corresponds to the exact object shape and the tension on the contact surface. The contact force, and slip can be inferred from the sensor’s deformation as well. Particularly, we focus on the hardware and software that support GelSight’s application on robot hands. This paper reviews the development of GelSight, with the emphasis in the sensing principle and sensor design. We introduce the design of the sensor’s optical system, the algorithm for shape, force and slip measurement, and the hardware designs and fabrication of different sensor versions. We also show the experimental evaluation on the GelSight’s performance on geometry and force measurement. With the high-resolution measurement of shape and contact force, the sensor has successfully assisted multiple robotic tasks, including material perception or recognition and in-hand localization for robot manipulation
Dataset - Understanding the image cues driving the switch from brightness to lightness responses in the Adelson checker-block illusion.
No full textResults and stimuli for a study exploring the key pictorial cues in driving lightness responses to the Adelson Checker-Block Illusio
SparkleVision: Seeing the world through random specular microfacets
No full textIn this paper, we study the problem of reproducing the light from a single image of an object covered with random specular microfacets on the surface. We show that such reflectors can be interpreted as a randomized mapping from the lighting to the image. Such specular objects have very different optical properties from both diffuse surfaces and smooth specular objects like metals, so we design a special imaging system to robustly and effectively photograph them. We present simple yet reliable algorithms to calibrate the proposed system and do the inference. We conduct experiments to verify the correctness of our model assumptions and prove the effectiveness of our pipeline
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