General Specular Surface Triangulation

We present a method for the reconstruction of a specular surface, using a single camera viewpoint and the reflection of a planar target placed at two different positions. Contrarily to most specular surface reconstruction algorithms, our method makes no assumption on the regularity or continuity of the specular surface, and outputs a set of 3D points along with corresponding surface normals, all independent from one another. A point on the specular surface can be reconstructed if its corresponding pixel in the image has been matched to its source in both of the target planes. We present original solutions to the problem of dense point matching and planar target pose estimation, along with reconstruction results in real-world scenarii.