Stereoscopic shading: integrating multi-frame shape cues in a variational framework

We address the problem of integrating multi-frame stereo and shading cues within the framework of optimization in the infinite-dimensional space of piecewise smooth surfaces. Cue integration then reduces to the determination of regions where prior assumptions on the reflectance of the surfaces can be enforced. By combining cues, our formulation allows defining a well-posed problem even when reconstruction from stereo or shading in isolation would be ill-posed. For a simplified model we prove the necessary conditions for optimality, and propose an iterative optimization algorithm, which we implement using ultra-narrowband level set methods.