In this paper we introduce and rigorously solve for the first time the photometric stereo problem for central panoramic systems. In particular, by leveraging the unified camera model, we present a new spherical image irradiance equation and analyze its mathematical properties in detail. The discrete gradient field issued from this equation is fed into a drift-free normal integration algorithm tailored to the spherical image geometry, and the light direction is estimated using the specular highlights observed on mirror balls inside the scene. Extensive experiments conducted with analytical surfaces, and synthetic and real-world images captured by central panoramic cameras, show that the proposed 3D reconstruction pipeline is effective and tolerant to noise. The image database and the code developed are publicly available at the address: https://home.mis.u-picardie.fr/ fabio/ustereo.html

本文首次引入并严格解决了中央全景系统的光度立体问题。特别是，通过利用统一的相机模型，我们提出了一个新的球形图像辐照度方程并详细分析其数学性质。由该方程式发出的离散梯度场被输入到适合于球形图像几何形状的无漂移法线积分算法中，并且使用在场景内镜球上观察到的镜面高光来估计光的方向。使用分析表面进行的大量实验以及中央全景摄像机捕获的合成图像和真实世界图像显示，提出的3D重建管道有效且耐噪声。图像数据库和开发的代码可在以下地址公开获得：https://home.mis.u-picardie.fr/ fabio / ustereo.html