Distance image generating method for use in e.g. robotics, involves illuminating scene with random- or pseudo random pattern i.e. stripe pattern, and modulating pattern in displacement direction and in direction of epipolar lines

摘要

The method involves illuminating a scene (3) with random- or pseudo random pattern i.e. stripe pattern, by a projection unit (9). The random- or pseudo random pattern is used with image recordings so that a marking of a projection pattern (19) is projected to the scene. A relative displacement between the scene and the projection pattern is realized along a displacement direction among recordings of images of stereo-cameras (4, 5). The random- or pseudo random pattern is modulated in the displacement direction and in a direction of epipolar lines. An independent claim is also included for a device for generating a distance image of a scene.