A numerical solution to shape-from-shading under natural illumination is presented. It builds upon a generic PDE-based formulation which handles directional or spherical harmonics lighting, orthographic or perspective projection, and greylevel or multi-channel images. An augmented Lagrangian solver is proposed, which separates the global, nonlinear optimization problem into a sequence of simpler (either local or linear) ones. Real-world applications to shading-aware depth map denoising, refinement and completion are presented.
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