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4 views49 pages

Multi View

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Private
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© © All Rights Reserved
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Announcements

• Project 3 out today (help session at end of class)


Multiview stereo

CMU’s 3D Room

Readings (Optional)
• S. M. Seitz and C. R. Dyer,
Photorealistic Scene Reconstruction by Voxel Coloring, International Journal
of Computer Vision, 35(2), 1999, pp. 151-173.
Choosing the Baseline

all of these
points project
to the same
pair of pixels
width of
a pixel

Large Baseline Small Baseline

What’s the optimal baseline?


• Too small: large depth error
• Too large: difficult search problem
The Effect of Baseline on Depth Estimation
Multibaseline Stereo
Basic Approach
• Choose a reference view
• Use your favorite stereo algorithm BUT
> replace two-view SSD with SSD over all baselines

Limitations
• Must choose a reference view (bad)
• Visibility!

CMU’s 3D Room Video


The global visibility problem
Which points are visible in which images?

Known Scene Unknown Scene

Forward Visibility Inverse Visibility


known scene known images
Volumetric stereo

Scene Volume
V

Input Images
(Calibrated)

Goal: Determine occupancy, “color” of points in V


Discrete formulation: Voxel Coloring

Discretized
Scene Volume

Input Images
(Calibrated)

Goal: Assign RGBA values to voxels in V


photo-consistent with images
Complexity and computability

Discretized
Scene Volume
3
N voxels
C colors

True
Scene
N3
Photo-ConsistentAll Scenes (C )
Scenes
Issues
Theoretical Questions
• Identify class of all photo-consistent scenes

Practical Questions
• How do we compute photo-consistent models?
Voxel coloring solutions
1. C=2 (shape from silhouettes)
• Volume intersection [Baumgart 1974]
> For more info: Rapid octree construction from image sequences. R. Szeliski,
CVGIP: Image Understanding, 58(1):23-32, July 1993. (this paper is apparently
not available online)

2. C unconstrained, viewpoint constraints


• Voxel coloring algorithm [Seitz & Dyer 97]

3. General Case
• Space carving [Kutulakos & Seitz 98]
Reconstruction from Silhouettes (C = 2)

Binary Images

Approach:
• Backproject each silhouette
• Intersect backprojected volumes
Volume intersection

Reconstruction Contains the True Scene


• But is generally not the same
• In the limit (all views) get visual hull
> Complement of all lines that don’t intersect S
Voxel algorithm for volume intersection

Color voxel black if on silhouette in every image


• O(MN3), for M images, N3 voxels
• Don’t have to search 2N3 possible scenes!
Properties of Volume Intersection
Pros
• Easy to implement, fast
• Accelerated via octrees [Szeliski 1993]

Cons
• No concavities
• Reconstruction is not photo-consistent
• Requires identification of silhouettes
Voxel Coloring Solutions
1. C=2 (silhouettes)
• Volume intersection [Baumgart 1974]

2. C unconstrained, viewpoint constraints


• Voxel coloring algorithm [Seitz & Dyer 97]
> For more info: http://www.cs.washington.edu/homes/seitz/papers/ijcv99.pdf

3. General Case
• Space carving [Kutulakos & Seitz 98]
Voxel Coloring Approach

1. Choose voxel
2. Project and correlate
3. Color if consistent
(standard deviation of pixel
colors below threshold)

Visibility Problem: in which images is each voxel visible?


Depth Ordering: visit occluders first!

Layers

Scene
Traversal

Condition: depth order is the same for all input views


Panoramic Depth Ordering
• Cameras oriented in many different directions
• Planar depth ordering does not apply
Panoramic Depth Ordering

Layers radiate outwards from cameras


Panoramic Layering

Layers radiate outwards from cameras


Panoramic Layering

Layers radiate outwards from cameras


Compatible Camera Configurations

Depth-Order Constraint
• Scene outside convex hull of camera centers

Inward-Looking Outward-Looking
cameras above scene cameras inside scene
Calibrated Image Acquisition

Selected Dinosaur Images

Calibrated Turntable
360° rotation (21 images)

Selected Flower Images


Voxel Coloring Results (Video)

Dinosaur Reconstruction Flower Reconstruction


72 K voxels colored 70 K voxels colored
7.6 M voxels tested 7.6 M voxels tested
7 min. to compute 7 min. to compute
on a 250MHz SGI on a 250MHz SGI
Limitations of Depth Ordering
A view-independent depth order may not exist

p q

Need more powerful general-case algorithms


• Unconstrained camera positions
• Unconstrained scene geometry/topology
Voxel Coloring Solutions
1. C=2 (silhouettes)
• Volume intersection [Baumgart 1974]

2. C unconstrained, viewpoint constraints


• Voxel coloring algorithm [Seitz & Dyer 97]

3. General Case
• Space carving [Kutulakos & Seitz 98]
> For more info: http://www.cs.washington.edu/homes/seitz/papers/kutu-ijcv00.pdf
Space Carving Algorithm

Image 1 Image N

…...

Space Carving Algorithm


• Initialize to a volume V containing the true scene
• Choose a voxel on the current surface
• Project to visible input images
• Carve if not photo-consistent
• Repeat until convergence
Convergence
Consistency Property
• The resulting shape is photo-consistent
> all inconsistent points are removed

Convergence Property
• Carving converges to a non-empty shape
> a point on the true scene is never removed

p
Which shape do you get?

V V

True Scene Photo Hull

The Photo Hull is the UNION of all photo-consistent scenes in V


• It is a photo-consistent scene reconstruction
• Tightest possible bound on the true scene
Space Carving Algorithm
The Basic Algorithm is Unwieldy
• Complex update procedure

Alternative: Multi-Pass Plane Sweep


• Efficient, can use texture-mapping hardware
• Converges quickly in practice
• Easy to implement

Results Algorithm
Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence

True Scene Reconstruction


Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence
Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence
Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence
Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence
Multi-Pass Plane Sweep
• Sweep plane in each of 6 principle directions
• Consider cameras on only one side of plane
• Repeat until convergence
Space Carving Results: African Violet

Input Image (1 of 45) Reconstruction

Reconstruction Reconstruction
Space Carving Results: Hand

Input Image
(1 of 100)

Views of Reconstruction
House Walkthrough

24 rendered input views from inside and outside


Space Carving Results: House

Input Image Reconstruction


(true scene) 370,000 voxels
Space Carving Results: House

Input Image Reconstruction


(true scene) 370,000 voxels
Space Carving Results: House

New View (true scene) Reconstruction

New View Reconstruction Reconstruction


(true scene) (with new input view)
Other Approaches
Level-Set Methods [Faugeras & Keriven 1998]
• Evolve implicit function by solving PDE’s
Probabilistic Voxel Reconstruction [DeBonet & Viola 1999],
[Broadhurst et al. 2001]
• Solve for voxel uncertainty (also transparency)
Transparency and Matting [Szeliski & Golland 1998]
• Compute voxels with alpha-channel
Max Flow/Min Cut [Roy & Cox 1998]
• Graph theoretic formulation
Mesh-Based Stereo [Fua & Leclerc 1995], [Zhang & Seitz 2001]
• Mesh-based but similar consistency formulation
Virtualized Reality [Narayan, Rander, Kanade 1998]
• Perform stereo 3 images at a time, merge results
Bibliography
Volume Intersection
• Martin & Aggarwal, “Volumetric description of objects from multiple views”, Trans. Pattern
Analysis and Machine Intelligence, 5(2), 1991, pp. 150-158.
• Szeliski, “Rapid Octree Construction from Image Sequences”, Computer Vision, Graphics,
and Image Processing: Image Understanding, 58(1), 1993, pp. 23-32.

Voxel Coloring and Space Carving


• Seitz & Dyer, “Photorealistic Scene Reconstruction by Voxel Coloring”, Proc. Computer
Vision and Pattern Recognition (CVPR), 1997, pp. 1067-1073.
• Seitz & Kutulakos, “Plenoptic Image Editing”, Proc. Int. Conf. on Computer Vision (ICCV),
1998, pp. 17-24.
• Kutulakos & Seitz, “A Theory of Shape by Space Carving”, Proc. ICCV, 1998, pp. 307-314.
Bibliography
Related References
• Bolles, Baker, and Marimont, “Epipolar-Plane Image Analysis: An Approach to Determining
Structure from Motion”, International Journal of Computer Vision, vol 1, no 1, 1987, pp. 7-55.
• DeBonet & Viola, “Poxels: Probabilistic Voxelized Volume Reconstruction”, Proc. Int. Conf. on
Computer Vision (ICCV) 1999.
• Broadhurst, Drummond, and Cipolla, "A Probabilistic Framework for Space Carving“,
International Conference of Computer Vision (ICCV), 2001, pp. 388-393.
• Faugeras & Keriven, “Variational principles, surface evolution, PDE's, level set methods and the
stereo problem", IEEE Trans. on Image Processing, 7(3), 1998, pp. 336-344.
• Szeliski & Golland, “Stereo Matching with Transparency and Matting”, Proc. Int. Conf. on
Computer Vision (ICCV), 1998, 517-524.
• Roy & Cox, “A Maximum-Flow Formulation of the N-camera Stereo Correspondence Problem”,
Proc. ICCV, 1998, pp. 492-499.
• Fua & Leclerc, “Object-centered surface reconstruction: Combining multi-image stereo and
shading", International Journal of Computer Vision, 16, 1995, pp. 35-56.
• Narayanan, Rander, & Kanade, “Constructing Virtual Worlds Using Dense Stereo”, Proc. ICCV,
1998, pp. 3-10.
Summary
Things to take away from this lecture
• Baseline tradeoff
• Multibaseline stereo approach
• Voxel coloring problem
• Volume intersection algorithm
• Voxel coloring algorithm
• Space carving algorithm

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