Robust shape recovery from occluding contours using a linear smoother

Recovering the shape of an object from triangulation fails at occluding contours of smooth objects because the contour generators are view dependent. For three or more views, shape recovery is possible, and several algorithms have been developed for this purpose. The authors´ approach uses a linear smoother to optimally combine all of the measurements available at the contours (and other edges) in all of the images. This allows extraction of a robust and dense estimate of surface shape, and shape information from both surface markings and occluding contours