Abstract
This paper presents a depth perception system based on one-shot coding structured light method. The designed monochromatic pattern is robust against occlusion and sharp deformation, suitable for dynamic scene, and less sensitive for color interference, with symbol density spectrum (SDS) rule, legitimately increasing number of feature points inside element which further enhancing resolution. For the decoding stage, firstly, the proposed adaptive-symmetry-template (ASD) can robustly detect feature points, secondly, in virtue of transfer learning, using DenseNet to identify element label, thirdly, graph topological structure and look-up-table (LUT) help reducing decoding time. The experiments show that the encoding method increases resolution fairly a lot and for several complex objects, the decoding method can achieve high accuracy and keep robustness.
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