Improved methods of estimating shape from shading using the light source coordinate system
Artificial Intelligence
Perception of solid shape from shading
Biological Cybernetics
Surface descriptions from stereo and shading
Image and Vision Computing
Computer Vision, Graphics, and Image Processing
A Method for Enforcing Integrability in Shape from Shading Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recovering Three-Dimensional Shape from a Single Image of Curved Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape from shading
A provably convergent algorithm for shape from shading
Shape from shading
Height and gradient from shading
International Journal of Computer Vision
The derivation of 3-D surface shape from shadows
Proceedings of a workshop on Image understanding workshop
CVGIP: Image Understanding
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surface Reflection: Physical and Geometrical Perspectives
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation of Illuminant Direction, Albedo, and Shape from Shading
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape from shading as a partially well-constrained problem
CVGIP: Image Understanding
A viscosity solutions approach to shape-from-shading
SIAM Journal on Numerical Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
A multigrid method for shape from shading
SIAM Journal on Numerical Analysis
Retrospective on “interpreting line drawings as three-dimensional surfaces”
Artificial intelligence in perspective
Computer Vision and Image Understanding
Illumination for computer generated pictures
Communications of the ACM
Shading Logic: A Heuristic Approach to Recover Shape from Shading
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape from Shading with a Linear Triangular Element Surface Model
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Adaptive Contour Closure Algorithm and Its Experimental Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Symmetric Shape-from-Shading Using Self-ratio Image
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image-based reconstruction of spatial appearance and geometric detail
ACM Transactions on Graphics (TOG)
Darboux smoothing for shape-from-shading
Pattern Recognition Letters
What Can Be Known about the Radiometric Response from Images?
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Densification of Digital Terrain Elevations Using Shape from Shading with Single Satellite Imagery
ICCS '01 Proceedings of the International Conference on Computational Science-Part II
Diagrammatic Integration of Abstract Operations into Software Work Contexts
DIAGRAMS '02 Proceedings of the Second International Conference on Diagrammatic Representation and Inference
Navigation Advice from pq-Histograms
MICAI '02 Proceedings of the Second Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Model Acquisition Using Shape-from-Shading
AMDO '02 Proceedings of the Second International Workshop on Articulated Motion and Deformable Objects
Theoretical Analysis of Finite Difference Algorithms for Linear Shape from Shading
CAIP '01 Proceedings of the 9th International Conference on Computer Analysis of Images and Patterns
Highlight Removal Using Shape-from-Shading
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
ICCS '02 Proceedings of the International Conference on Computational Science-Part III
Terrain Analysis Using Radar Shape-from-Shading
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Multiresolution Approach for Shape from Shading Coupling Deterministic and Stochastic Optimization
IEEE Transactions on Pattern Analysis and Machine Intelligence
Generating Discriminating Cartoon Faces Using Interacting Snakes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining the Camera Response from Images: What Is Knowable?
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimization of DTM Interpolation Using SFS with Single Satellite Imagery
The Journal of Supercomputing
A neural network for recovering 3D shape from erroneous and few depth maps of shaded images
Pattern Recognition Letters
Surface recovery by self shading projection
Signal Processing
Transformation image into graphics
Integrated image and graphics technologies
Noise Reduction in Surface Reconstruction from a Given Gradient Field
International Journal of Computer Vision
Protected interactive 3D graphics via remote rendering
ACM SIGGRAPH 2004 Papers
Modeling the Space of Camera Response Functions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape-from-Shading Under Perspective Projection
International Journal of Computer Vision
Scene-consistent detection of feature points in video sequences
Computer Vision and Image Understanding
Reillumination-driven shape from shading
Computer Vision and Image Understanding
3D Acquisition of mirroring objects using striped patterns
Graphical Models
Interactive material replacement in photographs
GI '05 Proceedings of Graphics Interface 2005
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Shape-from-Shading Method of Polyhedral Objects Using Prior Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Generic and Provably Convergent Shape-from-Shading Method for Orthographic and Pinhole Cameras
International Journal of Computer Vision
Enhanced methods in computer security, biometric and artificial intelligence systems
ACM SIGGRAPH 2006 Papers
Acquiring height data from a single image of a face using local shape indicators
Computer Vision and Image Understanding
Shape-from-shading with discontinuous image brightness
Applied Numerical Mathematics - Numerical methods for viscosity solutions and applications
Sketching shiny surfaces: 3D shape extraction and depiction of specular surfaces
ACM Transactions on Applied Perception (TAP)
RotoTexture: Automated Tools for Texturing Raw Video
IEEE Transactions on Visualization and Computer Graphics
Recovering Facial Shape Using a Statistical Model of Surface Normal Direction
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Unifying and Rigorous Shape from Shading Method Adapted to Realistic Data and Applications
Journal of Mathematical Imaging and Vision
Exploiting light projection for shape from shading
Applied Numerical Mathematics - Applied scientific computing: Advances in grid generation, approximation and numerical modeling
Active estimation of distance in a robotic system that replicates human eye movement
Robotics and Autonomous Systems
Shape and View Independent Reflectance Map from Multiple Views
International Journal of Computer Vision
A fast marching formulation of perspective shape from shading under frontal illumination
Pattern Recognition Letters
Seeing People in Different Light-Joint Shape, Motion, and Reflectance Capture
IEEE Transactions on Visualization and Computer Graphics
A Two-Level Generative Model for Cloth Representation and Shape from Shading
IEEE Transactions on Pattern Analysis and Machine Intelligence
Minimization problem in recovering the surface shape from shaded image
Cybernetics and Systems Analysis
Shape-from-shading for oblique lighting with accuracy enhancement by light direction optimization
EURASIP Journal on Applied Signal Processing
Shape from shading for the digitization of curved documents
Machine Vision and Applications
Shape Estimation Using Polarization and Shading from Two Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
A unified framework for scene illuminant estimation
Image and Vision Computing
3-D Depth Reconstruction from a Single Still Image
International Journal of Computer Vision
Numerical methods for shape-from-shading: A new survey with benchmarks
Computer Vision and Image Understanding
3D-spline reconstruction using shape from shading: Spline from shading
Image and Vision Computing
3-D Reconstruction of Shaded Objects from Multiple Images Under Unknown Illumination
International Journal of Computer Vision
A fractal-based relaxation algorithm for shape from terrain image
Computer Vision and Image Understanding
A perceptually validated model for surface depth hallucination
ACM SIGGRAPH 2008 papers
View invariant head recognition by Hybrid PCA based reconstruction
Integrated Computer-Aided Engineering
Inter-Image Statistics for 3D Environment Modeling
International Journal of Computer Vision
Shape from shading using graph cuts
Pattern Recognition
2D face recognition based on supervised subspace learning from 3D models
Pattern Recognition
Interactive normal reconstruction from a single image
ACM SIGGRAPH Asia 2008 papers
Spectral Modes of Facial Needle-Maps
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Novel Shape-From-Shading Methodology with Specular Reflectance Using Wavelet Networks
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Part II--Advances in Neural Networks
Perspective Shape from Shading with Non-Lambertian Reflectance
Proceedings of the 30th DAGM symposium on Pattern Recognition
Surface Reconstruction Techniques Using Neural Networks to Recover Noisy 3D Scenes
ICANN '08 Proceedings of the 18th international conference on Artificial Neural Networks, Part I
Noise Analysis of a SFS Algorithm Formulated under Various Imaging Conditions
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing, Part II
Technical Section: Sketch-based modeling: A survey
Computers and Graphics
Shape from Shading Using Probability Functions and Belief Propagation
International Journal of Computer Vision
A Non-local Approach to Shape from Ambient Shading
SSVM '09 Proceedings of the Second International Conference on Scale Space and Variational Methods in Computer Vision
Fast Shape from Shading for Phong-Type Surfaces
SSVM '09 Proceedings of the Second International Conference on Scale Space and Variational Methods in Computer Vision
Facial Geometry Estimation Using Photometric Stereo and Profile Views
ICB '09 Proceedings of the Third International Conference on Advances in Biometrics
Recovering Shape by Shading and Stereo Under Lambertian Shading Model
International Journal of Computer Vision
Making Shape from Shading Work for Real-World Images
Proceedings of the 31st DAGM Symposium on Pattern Recognition
Image-Based Lunar Surface Reconstruction
Proceedings of the 31st DAGM Symposium on Pattern Recognition
Photometric and geometric restoration of document images using inpainting and shape-from-shading
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Make3D: depth perception from a single still image
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Depth estimation using monocular and stereo cues
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Reillumination-driven shape from shading
Computer Vision and Image Understanding
A spatially multiresolution, MRF optimization based approach to the shape from shading problem
VIIP '07 The Seventh IASTED International Conference on Visualization, Imaging and Image Processing
A Multi-Image Shape-from-Shading Framework for Near-Lighting Perspective Endoscopes
International Journal of Computer Vision
Estimating Facial Reflectance Properties Using Shape-from-Shading
International Journal of Computer Vision
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Accurate 3D ground plane estimation from a single image
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Reconstruction of Lambertian surfaces by discrete equal height contours and regions propagation
Image and Vision Computing
New Riemannian techniques for directional and tensorial image data
Pattern Recognition
Two-view face recognition using bayesian fusion
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Efficient 3D reconstruction for face recognition
Pattern Recognition
A graph-spectral method for surface height recovery
Pattern Recognition
Vector transport for shape-from-shading
Pattern Recognition
Re-illuminating single images using Albedo estimation
Pattern Recognition
Surface radiance correction for shape from shading
Pattern Recognition
Facial gender classification using shape-from-shading
Image and Vision Computing
Spatial enhancement of digital terrain model using shape from shading with single satellite imagery
ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartI
Spatio-temporal reflectance sharing for relightable 3D video
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
PDE based shape from specularities
Scale Space'03 Proceedings of the 4th international conference on Scale space methods in computer vision
Direct shape-from-shading with adaptive higher order regularisation
SSVM'07 Proceedings of the 1st international conference on Scale space and variational methods in computer vision
Surface reconstruction using polarization and photometric stereo
CAIP'07 Proceedings of the 12th international conference on Computer analysis of images and patterns
View invariant head recognition by hybrid PCA based reconstruction
AMFG'07 Proceedings of the 3rd international conference on Analysis and modeling of faces and gestures
User-guided shape from shading to reconstruct fine details from a single photograph
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
Face recognition by matching 2D and 3D geodesic distances
MCAM'07 Proceedings of the 2007 international conference on Multimedia content analysis and mining
ACM SIGGRAPH 2010 papers
3D shape recovery by the use of single image plus simple pattern illumination
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
PSIVT'07 Proceedings of the 2nd Pacific Rim conference on Advances in image and video technology
Model-based shape recovery from single images of general and unknown lighting
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
Quaternion-based albedo recovery for shape reconstruction
ICNVS'10 Proceedings of the 12th international conference on Networking, VLSI and signal processing
Technical Section: Rendering fur directly into images
Computers and Graphics
Thorax biometrics from millimetre-wave images
Pattern Recognition Letters
A three-stage approach to shadow field estimation from partial boundary information
IEEE Transactions on Image Processing - Special section on distributed camera networks: sensing, processing, communication, and implementation
Shading constraint improves accuracy of time-of-flight measurements
Computer Vision and Image Understanding
Possibilistic signal processing: How to handle noise?
International Journal of Approximate Reasoning
A close-form iterative algorithm for depth inferring from a single image
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
A scalable, high-precision, and low-noise detector of shift-invariant image locations
Pattern Recognition Letters
Recovering shape and reflectance model of non-lambertian objects from multiple views
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Geodesic Methods in Computer Vision and Graphics
Foundations and Trends® in Computer Graphics and Vision
Variable-Source Shading Analysis
International Journal of Computer Vision
Relief patterned-tile classification for automatic tessella assembly
IEA/AIE'10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I
Automatic 3D reconstruction for face recognition
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Vision based defect detection on 3D objects and path planning for processing
ROCOM'11/MUSP'11 Proceedings of the 11th WSEAS international conference on robotics, control and manufacturing technology, and 11th WSEAS international conference on Multimedia systems & signal processing
Face recognition under variable lighting using harmonic image exemplars
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Reconstructing mass-conserved water surfaces using shape from shading and optical flow
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part IV
Linear-nonlinear neuronal model for shape from shading
Pattern Recognition Letters
Reconstruction of 3d surface from 2d images using five lighting sources
Machine Graphics & Vision International Journal
3D video and free viewpoint video-From capture to display
Pattern Recognition
Gender discriminating models from facial surface normals
Pattern Recognition
AppGen: interactive material modeling from a single image
Proceedings of the 2011 SIGGRAPH Asia Conference
A new shape from shading approach for specular surfaces
AICI'11 Proceedings of the Third international conference on Artificial intelligence and computational intelligence - Volume Part III
Multi-spectral false color shadow detection
PIA'11 Proceedings of the 2011 ISPRS conference on Photogrammetric image analysis
Spherical surface parameterization for perspective shape from shading
Pattern Recognition Letters
Diffusion of geometric affinity for surface integration
SSPR'06/SPR'06 Proceedings of the 2006 joint IAPR international conference on Structural, Syntactic, and Statistical Pattern Recognition
A novel method for solving the shape from shading (SFS) problem
ICNC'06 Proceedings of the Second international conference on Advances in Natural Computation - Volume Part II
Recovery of surface height using polarization from two views
CAIP'05 Proceedings of the 11th international conference on Computer Analysis of Images and Patterns
Molding face shapes by example
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Retexturing single views using texture and shading
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Skin color analysis in HSV color space and rendering with fine scale skin structure
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Protect interactive 3d models via vertex shader programming
ICEC'05 Proceedings of the 4th international conference on Entertainment Computing
Driving 3D morphable models using shading cues
Pattern Recognition
Modelling surface normal distribution using the azimuthal equidistant projection
IMA'05 Proceedings of the 11th IMA international conference on Mathematics of Surfaces
Automatic, effective, and efficient 3d face reconstruction from arbitrary view image
PCM'04 Proceedings of the 5th Pacific Rim Conference on Advances in Multimedia Information Processing - Volume Part II
3D surface reconstruction based on one non-symmetric face image
SINOBIOMETRICS'04 Proceedings of the 5th Chinese conference on Advances in Biometric Person Authentication
Polygonal light source estimation
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part III
Intuitive shape modeling by shading design
SG'05 Proceedings of the 5th international conference on Smart Graphics
Single image estimation of facial albedo maps
BVAI'05 Proceedings of the First international conference on Brain, Vision, and Artificial Intelligence
Fast marching method for generic shape from shading
VLSM'05 Proceedings of the Third international conference on Variational, Geometric, and Level Set Methods in Computer Vision
Two stages stereo dense matching algorithm for 3d skin micro-surface reconstruction
MMM'10 Proceedings of the 16th international conference on Advances in Multimedia Modeling
Correcting book binding distortion in scanned documents
ICIAR'10 Proceedings of the 7th international conference on Image Analysis and Recognition - Volume Part II
Face recognition in 2D and 2.5D using ridgelets and photometric stereo
Pattern Recognition
Real-time estimation of 3D scene geometry from a single image
Pattern Recognition
Multiple-view shape extraction from shading as local regression by analytic NN scheme
Mathematical and Computer Modelling: An International Journal
Coherent Spatiotemporal Filtering, Upsampling and Rendering of RGBZ Videos
Computer Graphics Forum
Rapid 3D face reconstruction by fusion of SFS and Local Morphable Model
Journal of Visual Communication and Image Representation
Perspective Shape from Shading: Ambiguity Analysis and Numerical Approximations
SIAM Journal on Imaging Sciences
Tracking by detection for interactive image augmentation in laparoscopy
WBIR'12 Proceedings of the 5th international conference on Biomedical Image Registration
Real-time 4d reconstruction of human motion
AMDO'12 Proceedings of the 7th international conference on Articulated Motion and Deformable Objects
Template-Based conformal shape-from-motion-and-shading for laparoscopy
IPCAI'12 Proceedings of the Third international conference on Information Processing in Computer-Assisted Interventions
Face recognition by SVMs classification and manifold learning of 2D and 3D radial geodesic distances
EG 3DOR'08 Proceedings of the 1st Eurographics conference on 3D Object Retrieval
Tomographic reconstruction of transparent objects
EGSR'06 Proceedings of the 17th Eurographics conference on Rendering Techniques
Computer Assisted Relief Generation—A Survey
Computer Graphics Forum
System identification: 3d measurement using structured light system
ACIVS'12 Proceedings of the 14th international conference on Advanced Concepts for Intelligent Vision Systems
Shape and reflectance from natural illumination
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VII
Color constancy, intrinsic images, and shape estimation
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
Transfer of albedo and local depth variation to photo-textures
Proceedings of the 9th European Conference on Visual Media Production
Effect of facial feature points selection on 3d face shape reconstruction using regularization
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part V
Polygon mesh repairing: An application perspective
ACM Computing Surveys (CSUR)
Making bas-reliefs from photographs of human faces
Computer-Aided Design
GPU-based real-time spatio-temporal reconstruction studio
Proceedings of the 28th Spring Conference on Computer Graphics
Quality time-of-flight range imaging for feature-based registration using bacterial foraging
Applied Soft Computing
Reconstructing shape from dictionaries of shading primitives
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
The Visual Computer: International Journal of Computer Graphics
Three-dimensional reconstruction using multiresolution photoclinometry by deformation
The Visual Computer: International Journal of Computer Graphics
On-the-fly multi-scale infinite texturing from example
ACM Transactions on Graphics (TOG)
On-set performance capture of multiple actors with a stereo camera
ACM Transactions on Graphics (TOG)
LaserGun: a tool for hybrid 3D reconstruction
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
Modeling and correction of multipath interference in time of flight cameras
Image and Vision Computing
Computer Vision and Image Understanding
Stereoscopic visualization of laparoscope image using depth information from 3D model
Computer Methods and Programs in Biomedicine
Camera Spectral Sensitivity and White Balance Estimation from Sky Images
International Journal of Computer Vision
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Since the first shape-from-shading (SFS) technique was developed by Horn in the early 1970s, many different approaches have emerged. In this paper, six well-known SFS algorithms are implemented and compared. The performance of the algorithms was analyzed on synthetic images using mean and standard deviation of depth ($Z$) error, mean of surface gradient ($p$, $q$) error, and CPU timing. Each algorithm works well for certain images, but performs poorly for others. In general, minimization approaches are more robust, while the other approaches are faster. The implementation of these algorithms in C and images used in this paper are available by anonymous ftp under the pub/tech_paper/survey directory at eustis.cs.ucf.edu (132.170.108.42). These are also part of the electronic version of paper.