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Usually ambient occlusion is something you'd add after with tools like blender. If you have some pictures that might help demonstrate what you mean. Also I might be misunderstand your use-case/workflow. For intricate depth maps one things I've found useful is using multiple resolution depth maps and then mixing them together. |
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Any possibility to add ambient occlusion to increase details for creating bas relief?
Creating a bas relief with depth map and a multiplied Ambient Occlusion (AO) will add gradient shadows which increases the level of details in the 3d model.
Image examples
Depthmap

AO

Depthmap only vs depthmap with multiplied AO (levels are modified to increase black and white)

3D results
Depthmap

Depthmap with multiplied AO (levels are modified to increase black and white)

As you can see, adding AO to depth maps increases level of detail and can be tweaked in 3D software to look even more realistic.
I found this paper https://www.theorangeduck.com/media/uploads/other_stuff/nnao.pdf which could be inspiration to Screen Space Ambient Occlusion (SSAO)
Here is another algorithm https://www.theorangeduck.com/page/pure-depth-ssao but I'm not sure if it can be used for 2D images
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