Study On Depth Sensing With Single-shot Colored Pattern

At present,the 3D information is applied in 3D face recognition,augmented reality,automatic navigation and so on.Therefore,the deep acquisition for complex scenarios has become the focus.Among them,the structured light method has become a research hotspot due to its high precision and robustness.Based on the structured light method,we proposed two novel methods of single-shot color-coded structured light for acquiring the depth.In this paper,we proposed a colored speckle method for high accuracy depth sensing.The projected pattern is a composite of the discrete phase information and the colored De Bruijn sequence information,which can prove the feasibility in practical and the robustness to the environment.A Gabor filter is used to estimate the wrapped phase.To alleviate the phase ambiguity of the conventional measurement methods,the period of the phase is distributed in two channels of the colored pattern by De Bruijn sequence decoding.A morphological closure is adopted to determine the De Bruijn code by the phase neighborhoods back and forth.The proposed method is suitable for a dynamic scene.Quantitative and qualitative experiments are conducted in practice to evaluate the performance of the proposed method.The results of the experiments prove that not only can our proposed method achieve high accuracy and dense depth map,but it is also suitable for color object and dynamic scenes.Meanwhile,we proposed a structured light pattern based on color sequence to obtain dense,high-precision depth data.We embed discrete points with phase information into the color De Bruijn sequence strip to solve the phase ambiguity problem.Phase encoding is achieved by the cosine variation of the pixel's density in the spatial domain,so binary encoding can be used to improve robustness.In addition,the mixed-coded structured light pattern of coloful sequence is suitable for dynamic scene.The performance of the method is proved by simulation experiments.As it can be seen from the simulation results,which may be a perfect reconstruction of the target object in a complex scene.