From sparse contact to dense proximity

Binary contact
Binary contact
→
InterFields
InterFields proximity field
InterField
$$\mathrm{IF}_{H\!\leftrightarrow\!O}(p) = \exp\!\left(-\frac{d(p,\,\mathcal{M})^2}{2\sigma^2}\right)$$
$p \in $ body $\cup$ object surface  ·  $\mathcal{M}$ = the other mesh  ·  $\sigma$ controls falloff

However, RGB -> InterFields is ill-posed  =>  it requires a structured prior.