Abstract

A unified framework for 3-D shape reconstruction allows us to combine image-based and geometry-based information sources. The image information is akin to stereo and shape-from-shading, while the geometric information may be provided in the form of 3-D points, 3-D features or 2-D silhouettes. A formal integration framework is critical in recovering complicated surfaces because the information from a single source is often insufficient to provide a unique answer. Our approach to shape recovery is to deform a generic object-centered 3-D representation of the surface so as to minimize an objective function. This objective function is a weighted sum of the contributions of the various information sources. We describe these various terms individually, our weighting scheme, and our optimization method. Finally, we present results on anumber of difficult images of real scenes for which a single source of information would have proved insufficient.

Citations