We address the problem of normal re

我们解决了透明物体的法线重建问题，该透明物体的整体表面是目标物体的整体形状，如果在其外表面上存在，则可以保留显着特征和精细结构。这种保留细节的外表面表示法对于视觉和机器人应用程序是足够的，在视觉和机器人应用程序中，透明物体要由机械手抓住，或在混乱的场景中由导航机器人避免。在我们的论文中，我们的目标不同于透明物体的真实感渲染或高精度重建，在透明物体的重建中，通常认为定制设备，校准和机械捕获对于实现高达如示踪物所表现出的复杂折射光传输路径的精度是必要的。目标对象。另一方面，<br>使用较小的预算。

We address the problem of normal reconstruction for a transparent object, where the integrated surface is an overall shape of the target object that preserves salient features and fine structures if present on its exterior surface. Such detail-preserving exterior surface representation is adequate for vision and robotics applications where transparent objects are to be grabbed by a robotic arm, or avoided by a navigating robot in a cluttered scene. In our paper, our goal is different from photorealistic rendering or high-accuracy reconstruction of transparent objects, where custom equipment, calibrated and mechanical capture are often deemed necessary to achieve precision as high as to trace the complex refractive light-transport paths exhibited by the target object. On the other hand, when an adequate shape without this level of precision is sufficient, it is possible to propose a reconstruction approach that uses a simpler setup realizableusing a smaller budget.<br>