I. Introduction
Shape recovery is a classical computer vision problem. The objective of shape recovery is to obtain a three-dimensional (3-D) scene description from one or more two-dimensional (2-D) images. The techniques used to recover the shape of an object are called shape-from-X techniques, where X denotes the specific information, such as shading, stereo, motion, and texture. Shape recovery from shading (SFS) is a major computer vision approach, which reconstructs the 3-D shape of an object from its gradual shading variation in 2-D images. When a point light source illuminates an object, they appear with different brightness, since the normal vectors corresponding to different parts of the object's surface are different. The spatial variation of brightness, referred to as shading, is used to estimate the orientation of surface and then calculate the depth map of the object. The recovered shape can be expressed in terms of depth, surface normal vector, surface gradient, or surface slant and tilt.