  Specularities are numerous in endoscopic images. They occur as many white
small elliptic spots, which are generally ruled out as nuisance in image
analysis and computer vision methods. Instead, we propose to use specularities
as cues for 3D perception. Specifically, we propose a new method to
reconstruct, at each specularity, the observed tissue's normal direction (i.e.,
its orientation) and shape (i.e., its curvature) from a single image. We show
results on simulated and real interventional images.
