Fig. 1. Schematic of fringe projection system

Fig. 2. Schematic of photometric stereo vision network

Fig. 3. Flowchart of multimodal data fusion

Fig. 4. Schematic of depth gradient

Fig. 5. Schematic of proposed network structure

Fig. 6. Schematic of network sampling policy

Fig. 7. Overall diagram of experiment equipment

Fig. 8. Simulation results. (a) Simulation normal image; (b) simulation depth image; (c) result of fusion algorithm; (d) result of normal integrity algorithm

Fig. 9. Mean error results along Z-axis of different algorithms. (a) (b) 3D distribution; (c) (d) 2D distribution

Fig. 10. Mean error results along Z-axis of different algorithms under different noise levels. (a) Fusion algorithm; (b) normal integrity algorithm

Fig. 11. Comparison of mean error along Z-axis by different noise level

Fig. 12. Experiment parts

Fig. 13. Normal vector results. (a) Result of part 1 by deep learning method; (b) result of part 1 by least square method; (c) result of part 2 by deep learning method; (d) result of part 2 by least square method

Fig. 14. Experimental results of part 1 and part 2. (a)(b) Structured light reconstruction results; (c)(d) fusion reconstruction results by least square normal vector; (e)(f) integration algorithm reconstruction results; (g)(h) reconstruction results by proposed method

Fig. 15. Error distribution results. (a) Structured light method result of part 1; (b) fusion algorithm result of part 1; (c) structured light method result of part 2; (d) fusion algorithm result of part 2