Depth discrimination from occlusions in 3D clutter

Depth Layers from Occlusions

We present a method to extract relative depth information from an uncalibrated monocular video sequence. Our method detects occlusions caused by an object moving in a static scene to infer relative depth relationships between scene parts. Our approach does not rely on any strong assumptions about the object or the scene to aid in this segmentation into layers. In general, the problem of buildin...

Disparity biasing in depth from monocular occlusions

Monocular occlusions have been shown to play an important role in stereopsis. Among other contributions to binocular depth perception, monocular occlusions can create percepts of illusory occluding surfaces. It has been argued that the precise location in depth of these illusory occluders is based on the constraints imposed by occlusion geometry. Tsirlin et al. (2010) proposed that when these c...

RGB-D object recognition and localization with clutter and occlusions

Object Discrimination Based on Depth-from-Occlusion

We present a model of how objects can be visually discriminated based on the extraction of depth-from-occlusion. Object discrimination requires consideration of both the binding problem and the problem of segmentation. We propose that the visual system binds contours and surfaces by identifying "proto-objects"-compact regions bounded by contours. Proto-objects can then be linked into larger str...

Depth discrimination from shading under diffuse lighting.

The human visual system has a remarkable ability to interpret smooth patterns of light on a surface in terms of 3-D surface geometry. Classical studies of shape-from-shading perception have assumed that surface irradiance varies with the angle between the local surface normal and a collimated light source. This model holds, for example, on a sunny day. One common situation in which this model f...