Abstract
We have developed a new optimisation based shape from shading algorithm which is able to make use of sophisticated camera and reflectance models and does not require a good initialising surface. Surface shape consistent with ground truth is obtained when the technique is applied to both synthetic rendered surfaces and real images captured by the Mars Express orbiter and HRSC instrument. The obtained surfaces provide improved fine surface detail over that found using stereo techniques and demonstrate the applicability of the technique to real images.
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