In this paper, a simple and efficient approach is presented for the reconstruction of 3-D surfaces using the integration of shape from shading (SfS) and stereo. First, a new SfS algorithm is derived to obtain the depth-map of a 3-D surface using linear and generalized Lambertian reflectance model. Later, the accuracy of the depth-map is improved by integrating stereo depth data. The stereo sparse depth data are obtained at the points which have higher similarity score in the rectified pair of stereo images. A feed-forward neural network is used to integrate the SfS and stereo depth data due to its strong nonlinear function approximation property. The integration process is based on the correction of 3-D visible surface obtained from SfS using the stereo data. The experiments have been performed on real and synthetic images to demonstrate the usability and accuracy of the approach.
Read full abstract