This paper examines the application of the "shape from shading" technique of surface measurement for depth perception and object recognition. An examination of several models for surface shading prediction as applied to scene synthesis is presented. Also discussed is the reverse process of using these surface shading models for image analysis for depth perception. The surface measurements are then used to fit simple surfaces to objects for recognition.
Charles A McPherson,
"Three-Dimensional Robot Vision", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939231; https://doi.org/10.1117/12.939231