Abstract

This paper presents a method for recovering shape and normal of a transparent object from a single viewpoint using a Time-of-Flight (ToF) camera. Our method is built upon the fact that the speed of light varies with the refractive index of the medium and therefore the depth measurement ofa transparent object with a ToF camera may be distorted. We show that, from this ToF distortion, the refractive lightpath can be uniquely determined by estimating a single parameter. We estimate this parameter by introducing a surface normal consistency between the one determined by alight path candidate and the other computed from the corre-sponding shape. The proposed method is evaluated by both simulation and real-world experiments and shows faithful transparent shape recovery.