Embodiments segment received image data. The received image data may include pixels that have multiple channels of intensity values. The image data is decomposed into albedo and shading components. This may be accomplished using a minimization that enforces a relationship between albedo, shading, and intensity values. The minimization may also include an albedo regularizer to infer albedo in part based on chromaticity and albedo of surrounding pixels. Superpixels are generated based on contiguous regions of pixels having similar image data across channels. These superpixels are then merged based in part on the determined albedo and shading components as well as based on the image data. The channels of image data may include infrared image data used to modify visible channels of the image to create pseudo-image data, which may be used in place of image data for albedo-shading decomposition, superpixel generation, or superpixel merging.
