In this paper, we present a novel, robust multi-view normal field integration technique for reconstructing the full 3D shape of mirroring objects. We employ a turntable-based setup with several cameras and displays. These are used to display illumination patterns which are reflected by the object surface. The pattern information observed in the cameras… (More)
In this paper, we propose a 3D reconstruction approach which combines a structured light based consistency measure with dense normal information obtained by exploiting the Helmholtz reciprocity principle. This combination compensates for the individual limitations of techniques providing normal information, which are mainly affected by low-frequency drift,… (More)
Most vision based systems for object tracking in urban environments focus on a limited number of important object categories such as cars or pedestrians, for which powerful detectors are available. However, practical driving scenarios contain many additional objects of interest, for which suitable detectors either do not yet exist or would be cumbersome to… (More)
Scene understanding is an important prerequisite for vehicles and robots that operate autonomously in dynamic urban street scenes. For navigation and high-level behavior planning, the robots not only require a persistent 3D model of the static surroundings-equally important, they need to perceive and keep track of dynamic objects. In this paper, we propose… (More)
In this paper, we present an object-centric, fixed-dimensional 3D shape representation for robust matching of partially observed object shapes, which is an important component for object categorization from 3D data. A main problem when working with RGB-D data from stereo, Kinect, or laser sensors is that the 3D information is typically quite noisy. For that… (More)
I hereby declare that I have created this work completely on my own and used no other sources or tools than the ones listed, and that I have marked any citations accordingly. CONTENTS Abstract iii 1 Introduction 1 1.
While there are many algorithms which address the reconstruction of partial surfaces from single-view normal fields, to the best of our knowledge, there is only one method [Chang et al., 'Multiview Normal Field Integration using Level Sets', CVPR 2007] which focuses on the reconstruction of the full shape of an object from multiple normal fields captured… (More)