Integration of shape from X modules: combining stereo and shading

Stereo algorithms suffer from the lack of local surface texture due to smoothness of depth constraint or local mismatches in disparity estimates. The stereo methods only provide a coarse depth map which can be associated with a low pass image of the depth map. Shape from shading algorithms produce better estimates of local surface areas, but some have problems with variable albedo and spherical surfaces. Thus, shape from shading methods produce better detailed depth information, and can be associated with the high pass image of the depth map image. In order to compute a better depth map, a method is presented for integrating the high-frequency information from the shape from shading and the low frequency information from stereo