Fast 3D Perception by a Color-Coded Vision System

This paper presents a method of grid-pattern design for a 3D vision sensor, which is based on the principles of color-encoded structured light, to improve the reconstruction efficiency. For a live scene, since the 3D measurement is desired to only capture a single image, this paper uses a color projector which can be controlled by a computer to generate arbitrary desired color patterns. A problem for color encoded projection, however, is the unique indexing of the light codes in the image. It is essential that each light grid be uniquely identified by incorporating the local neighborhoods in the pattern so that 3D reconstruction can be performed with only local analysis of a single image. This paper describes such a method in design of the special grid patterns to modulate the scene for fast 3D reconstruction. Experimental examples are provided to demonstrate the proposed methods using a given number of colors