Method and system for generating structured light with spatio-temporal patterns for 3D scene reconstruction

摘要

A structured light pattern including a set of patterns in a sequence is generated by initializing a base pattern. The base pattern includes a sequence of colored stripes such that each subsequence of the colored stripes is unique for a particular size of the subsequence. The base pattern is shifted hierarchically, spatially and temporally a predetermined number of times to generate the set of patterns, wherein each pattern is different spatially and temporally. A unique location of each pixel in a set of images acquired of a scene is determined, while projecting the set of patterns onto the scene, wherein there is one image for each pattern.

主权项

1. A method for generating a structured light pattern, wherein the structured light pattern includes a set of patterns in a sequence, comprising the steps of:
initializing a base pattern, wherein the base pattern includes a sequence of colored stripes such that each subsequence of the colored stripes is unique for a particular size of the subsequence; shifting hierarchically, spatially and temporally the base pattern a predetermined number of times to generate the set of patterns, wherein each pattern is different spatially and temporally, wherein the shifting further comprises: initializing a first pattern to the base pattern, wherein the colored stripes in the base pattern have a stripe width of l=8 in terms of pixels in the pattern as projected, and each consecutive 3 stripes is unique; shifting the first pattern by-32⁢l=-12to obtain a second pattern;
shifting the first and second patterns by14⁢l=2to obtain third and fourth patterns, respectively; and
shifting the first, second, third, and fourth patterns by14⁢l+1=3to obtain fifth, sixth, seventh and eighth patterns, respectively; and
determining, while projecting the set of patterns onto the scene, a unique location of each pixel in a set of images acquired of a scene with respect to the set of patterns, wherein there is one image for each pattern, and wherein the initializing, shifting and determining steps are performed in a processor.