Shape determination from intensity images-a new algorithm

An algorithm for determining surface shapes from intensity measurements is presented. Assuming a point-surface illumination and a Lambertian surface, a model that allows for the estimation of the normals at any point on the surface as well as the depth at any point in the image plane along the viewer (camera) direction is developed. Explicit shape descriptors are derived for local characterization of the surface at any point. Studies with synthetic and natural scenes indicate that surface-shape descriptors are shown to provide a reliable local characterization of the surface at any point on the surface within the occluding boundaries