Detection of laser illumination points of a stereo system on a complex background

The article describe to use of structured laser illumination as a subsystem of a stereosystem in order to increase the percentage of correct calculated values of the depth map. However, the use of such a subsystem implies the detection of information received from it. The complexity of obtaining such information is due to find reflected of laser beam on images which can be different shapes, brightness, and located on complex background. The article proposes a technique for confident detection of spots and points of laser illumination, as well as their centers on a complex background including when the background objects move relative to the sensors of the stereo system. Computed coordinates of the center of the spots of the illumination makes it possible to estimate the distance to objects with a different error than this do the stereo algorithm, and also to increase the information content of the untextured areas of the image.