Abstract
The method described here for recovering the shape of a surface from a shaded image can deal with complex, wrinkled surfaces. Integrability can be enforced easily because both surface height and gradient are represented. The robustness of the method stems in part from linearization of the reflectance map about the current estimate of the surface orientation at each picture cell. The new scheme can find an exact solution of a given shape-from-shading problem even though a regularizing term is included. This is a reflection of the fact that shape-from-shading problems are {\it not} ill-posed when boundary conditions are available or when the image contains singular points.
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