Shape reconstruction system integrating stereo vision and shape-from-shading-shape reconstruction using pair improvement method

In this paper, we propose a new method for reconstructing the shape of objects by multiple vision modules. This proposed method uses the stereo vision module and the shape-from-shading module. In stereo vision module, the conjugate pair of edge pixels is determined by structural analysis and the height is calculated by the triangulation. In shape-from-shading module, we use the Phong model (1975) as the reflectivity function and identify the reflectivity function by evolutionary programming. Then, we estimate the normal vector of pixels. An important feature of our shape reconstruction is that these modules complement insufficient information each other. We show the simulated result for reconstructing the shape of simulated objects