Tai-sing Lee, Brian Potetz
This paper explores the statistical relationship between natural images and their underlying range (depth) images. We look at how this relationship changes over scale, and how this information can be used to enhance low resolution range data using a full resolution intensity image. Based on our findings, we propose an extension to an existing technique known as shape recipes , and the success of the two methods are compared using images and laser scans of real scenes. Our extension is shown to provide a two-fold improvement over the current method. Furthermore, we demonstrate that ideal linear shape-from-shading filters, when learned from natural scenes, may derive even more strength from shadow cues than from the traditional linear-Lambertian shading cues.