Single-Shot Depth Sensing With Pseudo Two-Dimensional Sequence Coded Discrete Binary Pattern

Abstract

Depth sensing with single-shot structured light is widely employed for depth measurement of dynamic scenes. For conventional single-shot structured light techniques, the projected pattern is coded with regards to color, shape, and intensity, aiming at assigning each pixel a unique label. However, the features of the projected pattern are extremely susceptible to the surface texture of the measured object, resulting in errors during performing decoding. In this study, a robust and simple binary pattern is proposed for high-accuracy depth sensing. Only two gray values are utilized in the designed pattern, which is insensitive to environmental noise. The pseudo two-dimensional De Bruijn sequence coding method is employed to reduce the size of the decoding window for robust matching. Short slashes are adopted as features of the pattern that greatly simplifies the feature extraction and pattern decoding. Compared with the Kinect and time-of-flight (TOF) depth cameras, our proposed method can acquire high-precision depth in quantitative and qualitative experiments.