METHOD FOR RECONSTRUCTING A SURFACE USING SPATIALLY STRUCTURED LIGHT AND A DYNAMIC VISION SENSOR

摘要

The present invention relates to a method for detecting and particularly reconstructing a surface (40), wherein the surface (40) is illuminated with spatially structured light, such that said light illuminates an area (31) of said surface (40) from which said light is reflected back, wherein said light comprises a temporarily varying intensity (I) in the form of successive light modulation patterns (32), wherein back-reflected light is detected by means of an optical sensor (20) that comprises a plurality of pixels, wherein a pixel coordinate ( u,v ) is associated to each pixel, and wherein each pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective pixel, and computes a signal related to said photocurrent, and wherein each pixel outputs an address-event ( Ev ) merely when the respective signal due to the light impinging on the respective pixel increases by an amount being larger than a first threshold (˜ ON ) or decreases by an amount being larger than a second threshold (˜ O FF ) since the last address-event ( Ev ) from the respective pixel, and wherein as a current image of said area, also denoted as laser stripe in case spatially structured light in the form of a plane/sheet of laser light is used, pixel coordinates ( u,v ) of address-events ( Ev' ) caused by light of the last light modulation pattern (32) back-reflected from said area (31) onto the optical sensor (20) are determined. Furthermore, the invention relates to a corresponding computer program and a corresponding system.