Transparent and reflective objects are omnipresent in our daily life, but their unique visual and optical characteristics are notoriously challenging even for state-of-the-art deep networks of semantic segmentation. To alleviate this challenge, we construct a new large-scale real-world RGB-D dataset called TROSD, which is more comprehensive than existing datasets for transparent and reflective object segmentation. Our TROSD dataset contains 11,060 RGB-D images with three semantic classes in terms of transparent objects, reflective objects, and others, covering a variety of daily scenes. Together with the dataset, we also introduce a novel network (TROSNet) as a high-standard baseline to assist other researchers to develop and benchmark their algorithms of transparent and reflective object segmentation. Moreover, extensive experiments also clearly show that the proposed TROSD dataset has an excellent capacity to facilitate the development of semantic segmentation algorithms with strong generalizability.
Three dimensional (3D) imaging technology has been widely used for many applications, such as human–computer interactions, making industrial measurements, and dealing with cultural relics. However, existing active methods often require both large apertures of projector and camera to maximize light throughput, resulting in a shallow working volume in which projector and camera are simultaneously in focus. In this paper, we propose a novel method to extend the working range of the structured light 3D imaging system based on the focal stack. Specifically in the case of large depth variation scenes, we first adopted the gray code method for local, 3D shape measurement with multiple focal distance settings. Then we extracted the texture map of each focus position into a focal stack to generate a global coarse depth map. Under the guidance of the global coarse depth map, the high-quality 3D shape measurement of the overall scene was obtained by local, 3D shape-measurement fusion. To validate the method, we developed a prototype system that can perform high-quality measurements in the depth range of 400 mm with a measurement error of 0.08%.
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