Object-centered surface reconstruction: combining multi-image stereo and shading
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Ambiguous Shape from Shading with Critical Points
Journal of Mathematical Imaging and Vision
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Numerical Recipes in C: The Art of Scientific Computing
Numerical Recipes in C: The Art of Scientific Computing
Robust Photo-topography by Fusing Shape-from-Shading and Stereo
Robust Photo-topography by Fusing Shape-from-Shading and Stereo
A Bayesian method for probable surface reconstruction and decimation
ACM Transactions on Graphics (TOG)
Numerical methods for shape-from-shading: A new survey with benchmarks
Computer Vision and Image Understanding
Editorial: Special issue on Time-of-Flight camera based computer vision
Computer Vision and Image Understanding
Quality time-of-flight range imaging for feature-based registration using bacterial foraging
Applied Soft Computing
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We describe a technique for improving the accuracy of range maps measured by a time-of-flight (TOF) camera, a novel type of sensor that provides a range map registered perfectly with an intensity image. Our technique is based on the observation that the range map and intensity image measured by a TOF camera are not independent but are linked by the shading constraint: If the reflectance properties of the surface are known, a certain range map implies a corresponding intensity image. In practice, a general reflectance model (such as Lambertian reflectance) provides a sufficient approximation for a wide range of surfaces. We impose the shading constraint using a probabilistic model of image formation and find a maximum a posteriori estimate for the true range map. We present results on both synthetic and real TOF camera images that demonstrate the robust shape estimates achieved by the algorithm. We also show how the reflectivity (or albedo) of the surface can be estimated, both globally for an entire object and locally for objects where albedo varies across the surface.