Projected light beams tracking for efficient 3D reconstruction

A machine vision system based on a CCD camera combined with a light beam matrix is developed to output the 3D representation of a scene. This paper focuses on the problem of image spot labelling: matching between image spots and light beams is required for the triangulation procedure. A previous part of our work addressed the labelling problem through discrete relaxation. Each frame is analyzed independently and the labelling process considers all the possible combinations at each time. A major contribution, focused in this paper, concerns the insertion of another constraint based on image spot motion over time in order to improve the robustness of the labelling process. Motion prediction of image spots is deduced from previous images and allowed to reduce the possible labelling combinations in the current frame. Beam tracking results are discussed and 3D reconstructions are then presented.