Object Recognition Supported by User Interaction for Service Robots
DOI: 10.1109/icpr.2002.1047989
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A probabilistic framework for specular shape-from-shading

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Cited by 24 publications
(35 citation statements)
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“…In principle, we can overcome both of these problems. In a recent paper, we have described a probabilistic method for specularity removal which uses the Torrance-Sparrow model to perform Lambertian reflectance correction for shiny objects [31]. Local albedo changes can be accommodated using brightness normalization or histogram equalization.…”
Section: B Real World Datamentioning
confidence: 99%
“…In principle, we can overcome both of these problems. In a recent paper, we have described a probabilistic method for specularity removal which uses the Torrance-Sparrow model to perform Lambertian reflectance correction for shiny objects [31]. Local albedo changes can be accommodated using brightness normalization or histogram equalization.…”
Section: B Real World Datamentioning
confidence: 99%
“…There are a variety of angular distribution functions discussed in the computer graphics literature [25,26], which attempt to characterize the distribution of the angle between the direction of the a posteriori mean surface (i.e., O or O ⊥ ) and the predicted direction of the local reflecting surface defined as the bisector of the wave-source direction and the viewing direction (i.e., O R ). The Beckmann distribution for rough surfaces has been discussed in [25,26], which is given by…”
Section: Scatterer Distributionmentioning
confidence: 99%
“…For instance Brelstaff and Blake [6] used a simple thresholding strategy to identify specularities on moving curved objects. Other lines of research remove specularities by either using additional hardware [7], imposing constrains on the input images [8], requiring color segmentation [9] as postprocessing steps, or using reflectance models to account for the distribution of image brightness [10]. The main limitation of these methods is that they either rely on pre-determined setups for the image acquisition or the use of the closed form of the BRDF to characterise the specular spike and lobe.…”
Section: Introductionmentioning
confidence: 99%