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.

通过利用消费者 RGB-D 扫描仪自带的 IR Projector 和 IR 图片，本研究提出了一种新的遮蔽形状框架来增强精度，并在实时环境下重建深度图，该方法在 Lambertian 对象中表现良好，在综合光滑和反射表面的情况下也取得了最先进的深度重建效果。