Selective Use of Appropriate Image Pairs for Shape from Multiple Motions based on Gradient Method

For the gradient-based shape from motion, relative motions with various directions at each 3-D point on a target object are generally effective for accurate shape recovery. On the other hand, a proper motion size exists for each 3-D point having an intensity pattern and a depth that varied in each, i.e., a too large motion causes a large error in depth recovery as an alias problem, and a too small motion is inappropriate from the viewpoint of an SNR. Application of random camera rotations imitating involuntary eye movements of a human eyeball has been proposed, which can generate multiple image pairs. In this study, in order to realize accurate shape recovery, we improve the gradient method based on the multiple image pairs by selecting appropriate image pairs to be used. Its effectiveness is verified through experiments using the actual camera system that we developed.