Fig. 1. Reflection geometry relationship of the local surface

Fig. 2. Pinhole perspective projection

Fig. 3. Ground truth of Vase and Mozart. (a) Vase; (b) Mozart

Fig. 4. Vase images and their 3D shape reconstruction results. (a)-(d) Generated images by 4 configurations; (e)-(h) reconstructed results by Vogel algorithm; (i)-(l) reconstructed errors by Vogel algorithm; (m)-(p) reconstructed results by proposed algorithm; (q)-(t) reconstructed errors by proposed algorithm

Fig. 5. Mozart images and their 3D shape reconstruction results. (a)-(d) Generated images by 4 configurations; (e)-(h) reconstructed results by Vogel algorithm; (i)-(l) reconstructed errors by Vogel algorithm; (m)-(p) reconstructed results by proposed algorithm; (q)-(t) reconstructed errors by proposed algorithm

Fig. 6. 3D shape reconstruction results of a real image. (a) Real gray image; (b) reconstructed result obtained by Vogel algorithm; (c) reconstructed result obtained by proposed algorithm

Table 1. Quantitative comparison of 3D shape reconstruction results of the Vase images

Table 2. Quantitative comparison of 3D shape reconstruction results of the Mozart images