Discontinuity-aware Normal Integration for Generic Central Camera Models
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866909762303557632 |
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| author | Milano, Francesco López-Antequera, Manuel Dhingra, Naina Siegwart, Roland Thiel, Robert |
| author_facet | Milano, Francesco López-Antequera, Manuel Dhingra, Naina Siegwart, Roland Thiel, Robert |
| contents | Recovering a 3D surface from its surface normal map, a problem known as normal integration, is a key component for photometric shape reconstruction techniques such as shape-from-shading and photometric stereo. The vast majority of existing approaches for normal integration handle only implicitly the presence of depth discontinuities and are limited to orthographic or ideal pinhole cameras. In this paper, we propose a novel formulation that allows modeling discontinuities explicitly and handling generic central cameras. Our key idea is based on a local planarity assumption, that we model through constraints between surface normals and ray directions. Compared to existing methods, our approach more accurately approximates the relation between depth and surface normals, achieves state-of-the-art results on the standard normal integration benchmark, and is the first to directly handle generic central camera models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_06075 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Discontinuity-aware Normal Integration for Generic Central Camera Models Milano, Francesco López-Antequera, Manuel Dhingra, Naina Siegwart, Roland Thiel, Robert Computer Vision and Pattern Recognition Recovering a 3D surface from its surface normal map, a problem known as normal integration, is a key component for photometric shape reconstruction techniques such as shape-from-shading and photometric stereo. The vast majority of existing approaches for normal integration handle only implicitly the presence of depth discontinuities and are limited to orthographic or ideal pinhole cameras. In this paper, we propose a novel formulation that allows modeling discontinuities explicitly and handling generic central cameras. Our key idea is based on a local planarity assumption, that we model through constraints between surface normals and ray directions. Compared to existing methods, our approach more accurately approximates the relation between depth and surface normals, achieves state-of-the-art results on the standard normal integration benchmark, and is the first to directly handle generic central camera models. |
| title | Discontinuity-aware Normal Integration for Generic Central Camera Models |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2507.06075 |