Scale Space Surface Recovery using Binocular Shading and Stereo Information.

Shape-from-shading algorithms that use a single image often find incorrect solutions because of ambiguity in the image shading. We describe a robust shape-from-shading algorithm using scale space tracking that can resolve most of these ambiguities by using two images taken from slightly different positions. Further improvements are obtained by combining stereo with shape-fromshading. Results are shown for synthetic test images (with and without added noise) for a Scanning Electron Microscope stereo pair, and for a stereo pair taken using a video camera.