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Mutual calibration between color and depth cameras is a challenging topic inmulti-modal data registration. In this paper, we are confronted with a "BimodalStereo" problem, which aims to solve camera pose from a pair of an uncalibratedcolor image and a depth map from different views automatically. To address thisproblem, an iterative Shape-from-Shading (SfS) based framework is proposed toestimate shape and pose simultaneously. In the pipeline, the estimated shape isrefined by the shape prior from the given depth map under the estimated pose.Meanwhile, the estimated pose is improved by the registration of estimatedshape and shape from given depth map. We also introduce a shading basedrefinement in the pipeline to address noisy depth map with holes. Extensiveexperiments showed that through our method, both the depth map, the recoveredshape as well as its pose can be desirably refined and recovered.

Bimodal Stereo: Joint Shape and Pose Estimation from Color-Depth Image Pair