To appropriately reproduce a real object in a mixed environment, it is necessary to estimate reflectance properties of object surfaces. This paper describes a new method of densely estimating non-uniform surface reflectance properties of an object with convex and concave surfaces using registered range and surface color texture images obtained by a laser range finder. The proposed method determines positions of light source to take color images for discriminating diffuse and specular reflection components of surface reflection. The Torrance-Sparrow model is employed to estimate reflectance parameters using color images under multiple illumination conditions. Experiments show the usefulness of the method.
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