Spencer Woodworth - Tangent Space Normal Mapping of Cisterns From Stereo Images

Data Collection

First we captured stereo data using the GoPro Hero 3D system.

Some examples of left and right images are below.

Left GoPro Image	Right GoPro Image

Disparity Calculation

Then we built a disparity map using MatLab. The results of the left and right image shown above:

Normal Map Creation

Next we build a normal map from the disparity image by comparing neighboring pixels and shifting the normal accordingly.

Disparity Map Output From MatLab	Normal Map Displayed As RGB Values

I then recalculate phong shading using using these new normals.

Phong Shading Using Normal Map

Then the original texture image is added.

Normals Transformed Into Tangent Space

Finally, I transform the normals into tangent space. For this demo I have hardcoded the TBN matrices. I have removed the texture to make the results more noticeable.

Future Work

Change normal map calculation to use cross products rather than neighbor differences

Calculate a separate TBN matrix for each vertex in a cistern model

Improved disparity map calculations

Improved stereo image data collection techniques