| We have developed a 3D shape measurement method of
opaque objects. We removed the shadow and the specular
reflection using the principal component analysis,
estimated the light source direction using the singular
value decomposition, and estimated the surface normal of
the object using the photometric stereo. Shadow and
specular reflection are removed by iteratively computing
the principal component analysis. Light source direction
is estimated from the images and the shape obtained by 3D
laser range sensor. |
