Fig. 1. Overall framework diagram of proposed algorithm

Fig. 2. SFS depth calculation

Fig. 3. Umbrella operator

Fig. 4. An example of the original image of the dataset

Fig. 5. Initial model for reconstruction of 6 image surfaces

Fig. 6. Optimized model after 6 image surface reconstruction

Fig. 7. Comparison of model details. (a) Poisson surface reconstruction; (b) Delaunay mesh reconstruction; (c) algorithm of literature [11]; (d) proposed algorithm

Fig. 8. Pseudo-color maps. (a) Proposed algorithm; (b) algorithm of literature [11]; (c) Delaunay algorithm

Fig. 9. Acquisition dataset

Fig. 10. Effect comparison. (a) Delaunay algorithm; (b) algorithm of literature [11]; (c) proposed algorithm

Fig. 11. Acquisition dataset

Fig. 12. Position and posture diagram

Fig. 13. Effect comparison. (a) Reference model; (b) proposed algorithm; (c) pseudo color map