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In this paper, we propose a new photometric stereo method for estimating diffuse reflection and surface normal from color images. Using dichromatic reflection model, we introduce surface chromaticity as a matching invariant for photometric stereo, which serves as the foundation of the theory of this paper. An extremely simple and robust reflection components separation method is proposed based on the invariant. Our separation method differs from most previous methods which either assumedoi:10.1016/j.cviu.2012.03.001 fatcat:jnsupxhbbbdzfm6c6ilnhzwev4