Reconstruction of textureless regions using structure from motion and image-based interpolation

Techniques based on the well-studied approaches of structure from motion and bundle adjustment are very robust for scenes with texture. In scenes with little texture information these approaches can fail. Shape from shading determines the shape of an object up to a scale from a single image, and performs better than structure from motion methods in textureless regions. We propose using Gradient Constrained Interpolation to estimate a dense point cloud where holes are caused by regions of low texture during structure from motion reconstruction. Our technique is demonstrated to show good results in both synthetic and real data and outperforms methods which do not use image information.