Indexing with Unknown Illumination and Pose. Ira Kemelmacher Ronen Basri Weizmann Institute of Science. …. Hippo. Dino. Camel. The task – Shape Indexing. 1. Recognize. 2. Recover pose+lighting. Why is it hard?. Unknown pose Unknown lighting. Clutter. Occlusion.
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Ira Kemelmacher Ronen Basri
Weizmann Institute of Science
Fischler and Bolles, Huttenlocher and Ullman
Burns etal., Moses etal., Clemens etal.
I = b * H
Intensities of image point set
Harmonics of model point set
I = b * H
For corresponding image and model sets this is minimal
Should we apply it on feature points?
Voting based on Affine model
Affine + Rigidity test
Affine + Rigidity + Lighting