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We introduce a framework for outdoor photometric stereo utilizing natural environmental illumination. Our framework extends beyond existing photometric stereo methods intended for laboratory environments to encompass robust outdoor operation in the real world. In this paper, we motivate our framework, describe the components of its processing pipeline, and assess its performance in synthetic experiments as well as in natural experiments including objects in outdoor environments with complex realworld illuminations.doi:10.1109/iccphot.2013.6528306 dblp:conf/iccp/YuYTTC13 fatcat:twszqqnsb5bgtiphng7tgjulz4