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We present a single-shot system to recover surface geometry of objects withspatially-varying albedos, from images captured under a calibrated RGBphotometric stereo setup---with three light directions multiplexed acrossdifferent color channels in the observed RGB image. Since the problem isill-posed point-wise, we assume that the albedo map can be modeled aspiece-wise constant with a restricted number of distinct albedo values. We showthat under ideal conditions, the shape of a non-degenerate local constantalbedo surface patch can theoretically be recovered exactly. Moreover, wepresent a practical and efficient algorithm that uses this model to robustlyrecover shape from real images. Our method first reasons about shape locally ina dense set of patches in the observed image, producing shape distributions forevery patch. These local distributions are then combined to produce a singleconsistent surface normal map. We demonstrate the efficacy of the approachthrough experiments on both synthetic renderings as well as real capturedimages.

Single-image RGB Photometric Stereo With Spatially-varying Albedo