Accurate 3D reconstruction in real-world environments remains a significant challenge due to the coexistence of reflective and non-reflective surfaces, which pose distinct modeling demands. Existing methods often treat these surface types separately, limiting their generalizability and physical plausibility. To bridge this gap, we propose MicroSDF, a novel neural implicit framework that facilitates geometry and reflectance modeling through microfacet theory. Our approach incorporates three core innovations: 1) a microfacet-guided geometry model that extracts multi-scale surface normals (macroscopic and microfacet) from a signed distance field (SDF), regularized by a proposed microfacet normal consistency loss to enforce physically plausible surface orientations; 2) an enhanced dual-branch color model, where the specular branch leverages the microfacet normals to model high-frequency reflectance, and the vanilla branch, unlike prior works, uses reflection direction (instead of viewing direction) to better model diffuse and low-frequency specular components; and 3) a detection-guided color blending strategy that adaptively fuses the color outputs based on reflection priors, providing more physically intuitive blending than implicitly learned blending weights. Combined with a tailored multi-stage optimization scheme, the proposed MicroSDF achieves robust and high-fidelity reconstruction across reflective and non-reflective surfaces. Extensive experiments on DTU, Shiny Blender, Ref-NeRF, and DeepVoxels datasets demonstrate state-of-the-art performance, establishing a new direction for physically grounded neural reconstruction.

It is well known that the passive stereo system cannot adapt well to weak texture objects, e.g., white walls. However, these weak texture targets are very common in indoor environments. In this paper, we present a novel stereo system, which consists of two cameras (an RGB camera and an IR camera) and an IR speckle projector. The RGB camera is used both for depth estimation and texture acquisition. The IR camera and the speckle projector can form a monocular structured-light (MSL) subsystem, while the two cameras can form a binocular stereo subsystem. The depth map generated by the MSL subsystem can provide external guidance for the stereo matching networks, which can improve the matching accuracy significantly. In order to verify the effectiveness of the proposed system, we build a prototype and collect a test dataset in indoor scenes. The evaluation results show that the Bad 2.0 error of the proposed system is 28.2% of the passive stereo system when the network RAFT is used. The dataset and trained models are available at https://github.com/YuhuaXu/MonoStereoFusion.

Real-time performance of stereo matching networks is important for many applications, such as automatic driving, robot navigation and augmented reality (AR). Although significant progress has been made in stereo matching networks in recent years, it is still challenging to balance real-time performance and accuracy. In this paper, we present a novel edge-preserving cost volume upsampling module based on the slicing operation in the learned bilateral grid. The slicing layer is parameter-free, which allows us to obtain a high quality cost volume of high resolution from a low-resolution cost volume under the guide of the learned guidance map efficiently. The proposed cost volume upsampling module can be seamlessly embedded into many existing stereo matching networks, such as GCNet, PSMNet, and GANet. The resulting networks are accelerated several times while maintaining comparable accuracy. Furthermore, we design a real-time network (named BGNet) based on this module, which outperforms existing published real-time deep stereo matching networks, as well as some complex networks on the KITTI stereo datasets. The code is available at https://github.com/YuhuaXu/BGNet.