@techreport{TR-IC-10-09,
   number = {IC-10-09},
   author = {Helena C.~G.~Leitão and Rafael F.~V.~Saracchini and Jorge
                   Stolfi},
   title = {{Depth from Slope by Weighted Multi-Scale Integration}},
   month = {March},
   year = {2010},
   institution = {Institute of Computing, University of Campinas},
   note = {In English, 33 pages.
    \par\selectlanguage{english}\textbf{Abstract}
       We   describe  a  robust  method  for  recovery  of  the  depth 
       coordinate from a normal or slope map of a scene, such as those
       obtained  through photometric stereo or interferometry. The key
       features of the method are multi-scale integration (with proper
       averaging   and  interpolation  formulas)  and  the  use  of  a 
       reliability  weight  mask  to  handle regions with uncertain or
       unavailable  slope  data.  We tested our algorithm with several
       slope  maps  computed  from  known  height fields, and observed
       height errors of one pixel spacing or less. We have also tested
       it  with  success  on  slope maps of real objects obtained with
       photometric stereo methods.
  }
}