Using a Robotic Arm for Measuring BRDFs

  • Rasmus Ahrenkiel Lyngby
  • Jannik Boll Matthiassen
  • Jeppe Revall FrisvadEmail author
  • Anders Bjorholm Dahl
  • Henrik Aanæs
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11482)


The measurement of a bidirectional reflectance distribution function (BRDF) requires a purpose-built instrument. We ease this requirement by presenting a relative method for measuring a BRDF using a multipurpose robotic arm. Our focus is on the alignment of the system to perform accurate camera positioning and orientation. We use a six degrees of freedom robotic arm to move a camera on a hemisphere surrounding a flat material sample. Point-like light sources, fixed on a quarter circle arc, sequentially illuminate the sample from different directions. The resulting images are used to reconstruct the material BRDF. We limit ourselves to tristimulus (RGB) isotropic BRDF acquisition.


Robot arm BRDF Camera pose estimation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Rasmus Ahrenkiel Lyngby
    • 1
  • Jannik Boll Matthiassen
    • 1
  • Jeppe Revall Frisvad
    • 1
    Email author
  • Anders Bjorholm Dahl
    • 1
  • Henrik Aanæs
    • 1
  1. 1.Technical University of DenmarkKongens LyngbyDenmark

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