Estimation of Wetness and Color from a Single Multispectral Image

Abstract

Recognizing wet surfaces and their degrees of wetness is essential for many computer vision applications. Surface wetness can inform us slippery spots on a road to autonomous vehicles, muddy areas of a trail to humanoid robots, and the freshness of groceries to us. The fact that surfaces darken when wet, i.e., monochromatic appearance change, has been modeled to recognize wet surfaces in the past. In this paper, we show that color change, particularly in its spectral behavior, carries rich information about surface wetness. We first derive an analytical spectral appearance model of wet surfaces that expresses the characteristic spectral sharpening due to multiple scattering and absorption in the surface. We present a novel method for estimating key parameters of this spectral appearance model, which enables the recovery of the original surface color and the degree of wetness from a single multispectral image. Applied to a multispectral image, the method estimates the spatial map of wetness together with the dry spectral distribution of the surface. To our knowledge, this is the first work to model and leverage the spectral characteristics of wet surfaces to decipher its appearance. We conduct comprehensive experimental validation with a number of wet real surfaces. The results demonstrate the accuracy of our model and the effectiveness of our method for surface wetness and color estimation.