Fig. 1. Experimental system setup

Fig. 2. Calibration plate patterns. (a) Circular calibration plate; (b) calibration plate with stripe pattern; (c) selection of feature points on image plane of calibration plate

Fig. 3. Schematic diagram of position of calibration plate

Fig. 4. Error varying with number of iterations

Fig. 5. Standard objects. (a) Standard steps; (b) ceramic standard ball

Fig. 6. Step 3D topographies. (a) Step 3D topography recovered by LSM; (b) step 3D topography recovered by LSM (simplified);

Fig. 7. Fitted spherical color error plots. (a) Spherical color error plot fitted by LSM; (b) spherical color error plot fitted by LSM (simplified); (c) spherical color error plot fitted by SGRK; (d) spherical color error plot fitted by SGRK (simplified)

Fig. 8. Fitted spherical color error plots. (a) Spherical color error plot fitted by LSM (3rd order); (b) spherical color error plot fitted by LSM (5th order); (c) spherical color error plot fitted by SGRK (3rd order); (d) spherical color error plot fitted by SGRK (5th order)

Fig. 9. Ceramic doll reconstruction images. (a) Ceramic doll; (b) doll reconstructed by LSM; (c) doll reconstructed by SGRK