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Surface orientation imager with excluding capability of non-Lambertian reflectance

We propose a new method of the surface orientation (normal vector) imager being independent upon non-Lambertian reflectance components. 
It consists of six light sources at vertices of a hexagon and the three-phase correlation image sensor (3PCIS) for demodulating the amplitude and phase of reflected light at two illumination modes. To separate the Lambertial and the specular reflectance components, the light sources first illuminate the object in six phases being different in 2π/6 between the neighbors (the dipole modulation mode) and then in three phases being different in 4π/6 each other 
(the quadrapole modulation mode). In the dipole modulation mode, 
the amplitude and phase depend both on the Lambertian reflectance (surface orientation) and on the non-Lambertian reflectance (specular strength). In the quadrapole modulation mode, the former component is eliminated and only the latter component remains. Subtracting it from the dipole modulation result, we obtain the surface orientation map based on the photometric stereo principle. We implemented the method using CMOS 64x64 pixel 3PCIS and successfully reconstructed the normal vector maps for various non-Lambertian object.