Shape from Polarization of low-texture objects with rough depth information

For the smooth surface and low-texture target, the traditional multi-view geometry reconstruction algorithm was difficult to obtain the ideal result. however, it is difficult to obtain ideal results by simply using the polarization information for three-dimensional reconstruction with ambiguity problem. Using the rough depth map as a prior information can solve the azimuth ambiguity problem. Firstly, calibrated and aligned the polarized camera and the depth camera, and used the normal vector obtained by the rough depth map to correct the polarization azimuth ambiguity, then integrated the corrected normal vector with the rough depth map to obtain a high-precision three-dimensional surface of the object.