The introduction of consumer RGB-D scanners set off a major boost in 3D computer vision research. Yet, the precision of existing depth scanners is not accurate enough to recover fine details of a scanned object. While modern shading based depth refinement methods have been proven to work well with Lambertian objects, they break down in the presence of specularities. We present a novel shape from shading framework that addresses this issue and enhances both diffuse and specular objects' depth profiles. We take advantage of the built-in monochromatic IR projector and IR images of the RGB-D scanners and present a lighting model that accounts for the specular regions in the input image. Using this model, we reconstruct the depth map in real-time. Both quantitative tests and visual evaluations prove that the proposed method produces state of the art depth reconstruction results.
@article{arxiv.1511.08886,
title = {Real-Time Depth Refinement for Specular Objects},
author = {Roy Or - El and Rom Hershkovitz and Aaron Wetzler and Guy Rosman and Alfred M. Bruckstein and Ron Kimmel},
journal= {arXiv preprint arXiv:1511.08886},
year = {2016}
}