Shape-refinement of triangular three-dimensional mesh using a modified shape from shading (SFS) scheme

1. An electronic apparatus, comprising:

circuitry configured to:

generate a flat two-dimensional (2D) mesh of an object portion based on an orthographic projection of an initial three-dimensional (3D) triangular mesh on an image plane that comprises a plurality of square grid vertices;

estimate a final grid depth value for each square grid vertex of the plurality of square grid vertices of the flat 2D mesh based on a modified shape from shading (SFS) scheme,

wherein the modified SFS scheme corresponds to an objective relationship among a reference grid image intensity value, an initial grid depth value, and a grid albedo value for each square grid vertex of the plurality of square grid vertices; and

estimate a final 3D triangular mesh as a shape-refined 3D triangular mesh based on the initial 3D triangular mesh and the estimated final grid depth value for each square grid vertex of the plurality of square grid vertices.

2. The electronic apparatus according to claim 1 , further comprising a scanning device configured to capture a plurality of color images of the object portion and depth information corresponding to the plurality of color images.

3. The electronic apparatus according to claim 2 , wherein the circuitry is further configured to generate the initial 3D triangular mesh that corresponds to a shape-unrefined triangular mesh of the object portion, based on the captured plurality of color images and the depth information.

4. The electronic apparatus according to claim 1 , wherein the circuitry is further configured to estimate a set of initial depth values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on a corresponding set of 3D coordinates for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

5. The electronic apparatus according to claim 4 , wherein the circuitry is further configured to estimate the initial grid depth value for each square grid vertex of the plurality of square grid vertices based on a barycentric interpolation of the estimated set of initial depth values for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

6. The electronic apparatus according to claim 1 , wherein the circuitry is further configured to estimate a set of reference image intensity values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on a projection of the corresponding set of vertices on a color image of the object portion.

7. The electronic apparatus according to claim 6 , wherein the circuitry is further configured to estimate the reference grid image intensity value for each square grid vertex of the plurality of square grid vertices based on a barycentric interpolation of the estimated set of reference image intensity values for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

8. The electronic apparatus according to claim 1 , wherein the circuitry is further configured to estimate a set of albedo values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on a texture map of the object portion.

9. The electronic apparatus according to claim 8 , wherein the circuitry is further configured to estimate the grid albedo value for each square grid vertex of the plurality of square grid vertices based on a barycentric interpolation of the estimated set of albedo values for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

10. The electronic apparatus according to claim 1 , wherein, in the modified SFS scheme, the circuitry is further configured to estimate a surface normal for each square grid vertex of the plurality of square grid vertices of the flat 2D mesh, based on 2D coordinates for each square grid vertex of the plurality of square grid vertices and the initial grid depth value for each square grid vertex of the plurality of square grid vertices.

11. The electronic apparatus according to claim 1 , wherein, in the modified SFS scheme, the circuitry is further configured to estimate the final grid depth value for each square grid vertex of the plurality of square grid vertices of the flat 2D mesh, based on a minimization of the objective relationship for a color difference between an image rendered using a surface normal, an albedo, and a lighting on the surface of the object portion and a color image of the object portion.

12. The electronic apparatus according to claim 11 , wherein the circuitry is further configured to compute, for each triangle of a plurality of triangles of the initial 3D triangular mesh, a set of final depth values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on the estimated final grid depth value for a corresponding square grid vertex that lies within the corresponding triangle.

13. The electronic apparatus according to claim 12 , wherein the circuitry is further configured to update, for each triangle of the plurality of triangles of the initial 3D triangular mesh, a set of initial depth values for the corresponding set of vertices of the corresponding triangle, based on the computed set of final depth values for the corresponding set of vertices of the corresponding triangle.

14. The electronic apparatus according to claim 12 , wherein the circuitry is further configured to update, for each triangle of the plurality of triangles of the initial 3D triangular mesh, a set of initial depth values for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh, based on a minimization of an objective function, and

wherein the objective function comprises a relationship between the initial grid depth value and the final grid depth value for a corresponding square grid vertex that lies within the corresponding triangle and a squared difference between final depth values for each vertex and adjacent vertex on the corresponding triangle.

15. The electronic apparatus according to claim 1 , wherein the circuitry is further configured to control a display device to render a 3D model of the object portion based on the estimated final 3D triangular mesh.

16. The electronic apparatus according to claim 1 , wherein the initial 3D triangular mesh corresponds to a shape-unrefined triangular mesh of the object portion.

17. A method, comprising:

in an electronic apparatus:

generating a flat two-dimensional (2D) mesh for an object portion based on an orthographic projection of an initial three-dimensional (3D) triangular mesh on an image plane that comprises a plurality of square grid vertices;

estimating a final grid depth value for each square grid vertex of the plurality of square grid vertices of the flat 2D mesh based on a modified shape from shading (SFS) scheme,

wherein the modified SFS scheme corresponds to an objective relationship among a reference grid image intensity value, an initial grid depth value, and a grid albedo value for each square grid vertex of the plurality of square grid vertices; and

estimating a final 3D triangular mesh as a shape-refined 3D triangular mesh based on the initial 3D triangular mesh and the estimated final grid depth value for each square grid vertex of the plurality of square grid vertices.

18. The method according to claim 17 , further comprising estimating a set of initial depth values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on a corresponding set of 3D coordinates for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

19. The method according to claim 18 , further comprising estimating the initial grid depth value for each square grid vertex of the plurality of square grid vertices based on a barycentric interpolation of the estimated set of initial depth values for the corresponding set of vertices of the corresponding triangle of the initial 3D triangular mesh.

20. The method according to claim 17 , further comprising estimating a set of reference image intensity values for a corresponding set of vertices of a corresponding triangle of the initial 3D triangular mesh, based on a projection of the corresponding set of vertices on a color image of the object portion.