An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial in closed form and subsequently finding its roots. It is the first algorithm well suited for numerical implementation that also corresponds to the inherent complexity of the problem. We investigate the numerical precision of the algorithm. We also study its performance under noise in minimal as well as over-determined cases. The performance is compared to that of the well known 8 and 7-point methods and a 6-point scheme. The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay. The real-time system uses solely visual input and has been demonstrated at major conferences.

An exciting new area in computer graphics is the synthesis of novel images with photographic effect from an initial database of reference images. This is the primary theme of imagebased rendering algorithms. This research extends the light field and lumigraph image-based rendering methods and greatly extends their utility, especially in scenes with much depth variation. First, we have added the ability to vary the apparent focus within a light field using intuitive camera-like controls such as a variable aperture and focus ring. As with lumigraphs, we allow for more general and flexible focal surfaces than a typical focal plane. However, this parameterization works independently of scene geometry; we do not need to recover actual or approximate geometry of the scene for focusing. In addition, we present a method for using multiple focal surfaces in a single image rendering process.

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. The measurement of accurate material properties is an important step towards photorealistic rendering. Many real-world objects are composed of a number of materials that often show subtle changes even within a single material. Thus, for photorealistic rendering both the general surface properties as well as the spatially varying effects of the object are needed. We present an image-based measuring method that robustly detects the different materials of real objects and fits an average bidirectional reflectance distribution function (BRDF) to each of them. In order to model the local changes as well, we project the measured data for each surface point into a basis formed by the recovered BRDFs leading to a truly spatially varying BRDF representation. A high quality model of a real object can be generated with relatively few input data. The generated model allows for rendering under arbitrary viewing and lighting conditions and realistically reproduces the appearance of the original object. 1

Abstract – A new stereo vision tracker setup for virtual and augmented reality applications is presented in this paper. Performance, robustness and accuracy of the system are achieved under real-time constraints. The method is based on blobs extraction, two-dimensional prediction, the epipolar constraint and three-dimensional reconstruction. Experimental results using a stereo rig setup (equipped with IR capabilities) and retroreflective targets are presented to demonstrate the capabilities of our optical tracking system. The system tracks up to 25 independent targets at 30 Hz.

We present the 3D Video Recorder, a system capable of recording, processing, and playing three–dimensional video from multiple points of view. We first record 2D video streams from several synchronized digital video cameras and store pre-processed images to disk. An off-line processing stage converts these images into a time–varying three– dimensional hierarchical point–based data structure and stores this 3D video to disk. We show how we can trade–off 3D video quality with processing performance and devise efficient compression and coding schemes for our novel 3D video representation. A typical sequence is encoded at less than 7 megabit per second at a frame rate of 8.5 frames per second. The 3D video player decodes and renders 3D videos from hard–disk in real–time, providing interaction features known from common video cassette recorders, like variable–speed forward and reverse, and slow motion. 3D video playback can be enhanced with novel 3D video effects such as freeze–and–rotate and arbitrary scaling. The player builds upon point–based rendering techniques and is thus capable of rendering high–quality images in real–time. Finally, we demonstrate the 3D Video Recorder on multiple real–life video sequences. 1

In this paper we present an automatic method for calibrating a network of cameras from only silhouettes. This is particularly useful for shape-from-silhouette or visual-hull systems, as no additional data is needed for calibration. The key novel contribution of this work is an algorithm to robustly compute the epipolar geometry from dynamic silhouettes. We use the fundamental matrices computed by this method to determine the projective reconstruction of the complete camera configuration. This is refined into a metric reconstruction using self-calibration. We validate our approach by calibrating a four camera visual-hull system from archive data where the dynamic object is a moving person. Once the calibration parameters have been computed, we use a visual-hull algorithm to reconstruct the dynamic object from its silhouettes. 1

Abstract—Expression mapping (also called performance driven animation) has been a popular method for generating facial animations. A shortcoming of this method is that it does not generate expression details such as the wrinkles due to skin deformations. In this paper, we provide a solution to this problem. We have developed a geometry-driven facial expression synthesis system. Given feature point positions (the geometry) of a facial expression, our system automatically synthesizes a corresponding expression image that includes photorealistic and natural looking expression details. Due to the difficulty of point tracking, the number of feature points required by the synthesis system is, in general, more than what is directly available from a performance sequence. We have developed a technique to infer the missing feature point motions from the tracked subset by using an example-based approach. Another application of our system is expression editing where the user drags feature points while the system interactively generates facial expressions with skin deformation details. Index Terms—Facial animation, expression mapping, expression details, facial expressions, performance-driven animation. 1

Abstract — We describe theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a 2D laser range finder. The calibration is based on observing a planar checkerboard pattern and solving for constraints between the “views ” of a planar checkerboard calibration pattern from a camera and laser range finder. we give a direct solution that minimizes an algebraic error from this constraint, and subsequent nonlinear refinement minimizes a re-projection error. To our knowledge, this is the first published calibration tool for this problem. Additionally we show how this constraint can reduce the variance in estimating intrinsic camera parameters. I.

A framework for photo-realistic view-dependent image synthesis of a shiny object from a sparse set of images and a geometric model is proposed. Each image is aligned with the 3D model and decomposed into two images with regards to the reflectance components based on the intensity variation of object surface points. The view-independent surface reflection (diffuse reflection) is stored as one texture map. The view-dependent reflection (specular reflection) images are used to recover the initial approximation of the illumination distribution, and then a two step numerical minimization algorithm utilizing a simplified Torrance-Sparrow reflection model is used to estimate the reflectance parameters and refine the illumination distribution. This provides a very compact representation of the data necessary to render synthetic images from arbitrary viewpoints. We have conducted experiments with real objects to synthesize photorealistic view-dependent images within the proposed framework. 1.