A novel variant of photometric stereo, termed reflective photometric stereo (RPS), has been presented. RPS exploits differences in intensity measurements captured under direct and reflected illumination to recover surface orientation from pairs of grey level images. The technique is expected to find application in the visual inspection of a variety of enclosed environments. Successful application of RPS, however, requires a priori calibration of the camera and lighting equipment employed. An initial laboratory-based calibration technique is developed and described.
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