{"id":"https://openalex.org/W2151926801","doi":"https://doi.org/10.1109/icpr.2002.1047989","title":"A probabilistic framework for specular shape-from-shading","display_name":"A probabilistic framework for specular shape-from-shading","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2151926801","doi":"https://doi.org/10.1109/icpr.2002.1047989","mag":"2151926801"},"language":"en","primary_location":{"id":"doi:10.1109/icpr.2002.1047989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2002.1047989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Object recognition supported by user interaction for service robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070202991","display_name":"Hossein Ragheb","orcid":null},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"H. Ragheb","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074364400","display_name":"Edwin R. Hancock","orcid":"https://orcid.org/0000-0003-4496-2028"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"E.R. Hancock","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3351,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72035841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"513","last_page":"516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/specular-reflection","display_name":"Specular reflection","score":0.9139785766601562},{"id":"https://openalex.org/keywords/maximum-a-posteriori-estimation","display_name":"Maximum a posteriori estimation","score":0.6126717925071716},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5756168961524963},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5475141406059265},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5218502283096313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5178266167640686},{"id":"https://openalex.org/keywords/specular-highlight","display_name":"Specular highlight","score":0.5131062269210815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5067630410194397},{"id":"https://openalex.org/keywords/photometric-stereo","display_name":"Photometric stereo","score":0.5066271424293518},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.49331918358802795},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.48951733112335205},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4602017104625702},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.43953779339790344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39643892645835876},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.35851866006851196},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1769770085811615},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1668524146080017},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13395199179649353},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.12495830655097961},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09839120507240295},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.0945906937122345}],"concepts":[{"id":"https://openalex.org/C118381688","wikidata":"https://www.wikidata.org/wiki/Q1079524","display_name":"Specular reflection","level":2,"score":0.9139785766601562},{"id":"https://openalex.org/C9810830","wikidata":"https://www.wikidata.org/wiki/Q635384","display_name":"Maximum a posteriori estimation","level":3,"score":0.6126717925071716},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5756168961524963},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5475141406059265},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5218502283096313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5178266167640686},{"id":"https://openalex.org/C50045419","wikidata":"https://www.wikidata.org/wiki/Q7575328","display_name":"Specular highlight","level":3,"score":0.5131062269210815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5067630410194397},{"id":"https://openalex.org/C44365914","wikidata":"https://www.wikidata.org/wiki/Q17120636","display_name":"Photometric stereo","level":3,"score":0.5066271424293518},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.49331918358802795},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.48951733112335205},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4602017104625702},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.43953779339790344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39643892645835876},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.35851866006851196},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1769770085811615},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1668524146080017},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13395199179649353},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.12495830655097961},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09839120507240295},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.0945906937122345},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icpr.2002.1047989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2002.1047989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Object recognition supported by user interaction for service robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1518216403","https://openalex.org/W1519809696","https://openalex.org/W1540478814","https://openalex.org/W1554544485","https://openalex.org/W1578510995","https://openalex.org/W1589761358","https://openalex.org/W1802961089","https://openalex.org/W1946812025","https://openalex.org/W1956086215","https://openalex.org/W1985069172","https://openalex.org/W1988204682","https://openalex.org/W1989108207","https://openalex.org/W1990180334","https://openalex.org/W2001127164","https://openalex.org/W2003067321","https://openalex.org/W2015578497","https://openalex.org/W2017356210","https://openalex.org/W2030673126","https://openalex.org/W2032449056","https://openalex.org/W2045932639","https://openalex.org/W2078144531","https://openalex.org/W2079877940","https://openalex.org/W2088616581","https://openalex.org/W2103764761","https://openalex.org/W2112272269","https://openalex.org/W2116567847","https://openalex.org/W2118304946","https://openalex.org/W2122585444","https://openalex.org/W2123988955","https://openalex.org/W2129074579","https://openalex.org/W2136955756","https://openalex.org/W2138127543","https://openalex.org/W2141064695","https://openalex.org/W2145489083","https://openalex.org/W2147597023","https://openalex.org/W2157500953","https://openalex.org/W2158018118","https://openalex.org/W2160203169","https://openalex.org/W2174883983","https://openalex.org/W2242284366","https://openalex.org/W2286014486","https://openalex.org/W6631264613","https://openalex.org/W6647961009"],"related_works":["https://openalex.org/W2175900582","https://openalex.org/W2081408094","https://openalex.org/W2135509629","https://openalex.org/W2382975238","https://openalex.org/W2063902106","https://openalex.org/W2131672779","https://openalex.org/W2293373268","https://openalex.org/W2118271761","https://openalex.org/W37929843","https://openalex.org/W2116344605"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,18,35,52,56,83,89,102,114,125,137,141,157],"problem":[6],"of":[7,20,85,104,143,159],"separating":[8],"Lambertian":[9],"and":[10,59],"specular":[11,144,160],"reflection":[12],"components":[13],"in":[14,151,156],"order":[15],"to":[16],"improve":[17],"quality":[19],"surface":[21,64,86,105,153],"normal":[22,154],"information":[23],"recoverable":[24],"using":[25],"shape-from-shading.":[26],"The":[27,66,93],"framework":[28],"for":[29,50,55,61,88],"our":[30],"study":[31],"is":[32,96],"provided":[33,123],"by":[34,124],"iterated":[36],"conditional":[37,78],"modes":[38],"algorithm.":[39],"We":[40,111],"develop":[41],"a":[42,44,97],"maximum":[43],"posteriori":[45],"probability":[46],"(MAP)":[47],"estimation":[48,68],"method":[49,115,138],"estimating":[51],"mixing":[53],"proportions":[54],"two":[57,71,90],"reflectances,":[58],"also":[60,149],"recovering":[62],"local":[63,108],"normals.":[65],"MAP":[67],"scheme":[69],"has":[70],"model":[72],"ingredients.":[73],"First,":[74],"there":[75],"are":[76,122],"separate":[77],"measurement":[79],"densities":[80],"which":[81,100],"describe":[82],"distributions":[84],"normals":[87,106],"reflectance":[91],"components.":[92],"second":[94],"ingredient":[95],"smoothness":[98],"prior":[99],"models":[101],"distribution":[103],"over":[107],"image":[109],"regions.":[110],"experiment":[112],"with":[113,128],"on":[116],"real-world":[117],"data.":[118],"Ground":[119],"truth":[120],"data":[121],"imagery":[126],"obtained":[127],"crossed":[129],"polaroid":[130],"filters.":[131],"This":[132],"reveals":[133],"not":[134],"only":[135],"that":[136,147],"accurately":[139],"estimates":[140],"proportion":[142],"reflection,":[145],"but":[146],"it":[148],"results":[150],"good":[152],"reconstruction":[155],"proximity":[158],"highlights.":[161]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}