Occlusions are Fleeting - Texture is Forever: Moving Past Brightness Constancy

Recent work in dense monocular 3D reconstruction relies on dense pixel correspondences and assumes brightness constancy and saliency, and thus are fundamentally unable to reconstruct low-textured or non-lambertian objects such as glass or metal. Occlusion boundaries differ from texture in that each unique view generates a unique set of occlusions. By detecting and solving for the depths of occlusion boundaries, we show how dense reconstructions of challenging objects can be integrated with existing monocular reconstruction algorithms by compensating with an increasing number of unique views. In a sequence containing the Stanford Bunny (8.5 cm) the points of our reconstructed edge cloud have an RMS error of 2.3 mm.