Limitation of Radiometry Model
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1 Limitation of Radiometry Model Surface reflection ρ can be a function of viewing and/or illumination angle Surface normal N ϕ i i g ϕ e e ρ(i,e,g,ϕ, ϕ ) = e i dl(e, ϕ ) e de(i, ϕ ) i Arbitrary reference axis ρ may also be a function of the wavelength of the light source Assumed a point source (sky, for example, is not)
2 Lambertian Surfaces The BRDF for a Lambertian surface is a constant ρ(i,e,g,ϕ, ϕ ) = k e i function of cos e due to the foreshortening effect k is the 'albedo' of the surface Good model for diffuse surfaces Other models combine diffuse and specular components (Phong, Torrance-Sparrow, Oren-Nayar) References available upon request
3 BRDF Ron Dror s thesis
4 Reflection parameters
5 Real World Light Variation
6 Fake Light and Real Light
7 Simple and Complex Light
8 BRDF again
9
10 Classifying Under Uncertainty
11 More Fake Light
12 Illumination Maps
13 Classification
14 Classification Continued
15 Photometry Photometry: Concerned with mechanisms for converting light energy into electrical energy. World Optics Sensor Signal Digitizer Digital Representation
16 B&W Video System
17 Color Video System
18 Spectral Sensitivity Human Eye CCD Camera Tungsten bulb Figure 1 shows relative efficiency of conversion for the eye (scotopic and photopic curves) and several types of CCD cameras. Note the CCD cameras are much more sensitive than the eye. Note the enhanced sensitivity of the CCD in the Infrared and Ultraviolet (bottom two figures) Both figures also show a handrawn sketch of the spectrum of a tungsten light bulb
19 Characteristics In general, V(x,y) = k E(x,y) where k is a constant γ is a parameter of the type of sensor γ=1 (approximately) for a CCD camera γ=.65 for an old type vidicon camera Factors influencing performance: Optical distortion: pincushion, barrel, non-linearities Sensor dynamic range (30:1 CCD, 200:1 vidicon) Sensor Shading (nonuniform responses from different locations) TV Camera pros: cheap, portable, small size TV Camera cons: poor signal to noise, limited dynamic range, fixed array size with small image (getting better) γ
20 Sensor Performance Optical Distortion: pincushion, barrel, non-linearities Sensor Dynamic Range: (30:1 for a CCD, 200:1 Vidicon) Sensor Blooming: spot size proportional to input intensity Sensor Shading: (non-uniform response at outer edges of image) Dead CCD cells There is no universal sensor. Sensors must be selected/tuned for a particular domain and application.
21 Lens Aberrations In an ideal optical system, all rays of light from a point in the object plane would converge to the same point in the image plane, forming a clear image. The lens defects which cause different rays to converge to different points are called aberrations. Distortion: barrel, pincushion Curvature of field Chromatic aberration Spherical aberration Coma Astigmatism Aberration slides after
22 Lens Aberrations Distortion Curved Field
23 Lens Aberrations Chromatic Aberration Focal Length of lens depends on refraction and The index of refraction for blue light (short wavelengths) is larger than that of red light (long wavelengths). Therefore, a lens will not focus different colors in exactly the same place The amount of chromatic aberration depends on the dispersion (change of index of refraction with wavelength) of the glass.
24 Lens Aberration Spherical Aberration Rays which are parallel to the optic axis but at different distances from the optic axis fail to converge to the same point.
25 Lens Aberrations Coma Rays from an off-axis point of light in the object plane create a trailing "comet-like" blur directed away from the optic axis Becomes worse the further away from the central axis the point is
26 Lens Aberrations Astigmatism Results from different lens curvatures in different planes.
27 Sensor Summary Visible Light/Heat Camera/Film combination Digital Camera Video Cameras FLIR (Forward Looking Infrared) Range Sensors Radar (active sensing) sonar laser Triangulation Others stereo structured light Moire striped, patterned Holographic Interferometry Lens Focus Fresnel Diffraction Almost anything which produces a 2d signal that is related to the scene can be used as a sensor
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