Determining a Depth Map using a Dual Photometric Stereo

Vision is one of the most important subsystems of an intelligent robot. Without vision, a robot can repeat only one predetermined job sequence where objects are espectcd to be at predetermined places. Moreover, slight disturbances can cause unpredictable circumstances in the robot environment which might prevent the robot from continuing its job scquence. Such a robot system lacks flcxibility and robustness.