Marked grid labeling

The grid labeling problem is an instance of the correspondence problem that occurs when structured light is used to gather range data. Here, spatial labeling is examined as an approach to resolving labeling ambiguities. Spatial labeling is attractive since there are no additional costs of acquisition time or subsequent processing time. A grid labeling algorithm is presented which combines the spatial marking technique of J. LeMigne and A.M. Waxman (1984) with the constraint propagation approach of G. Stockman and G. Hu (1986). It is found accurate grid labeling using the marked grid can be accomplished using a subset of Stockman and Hu´s constraints. The structured light pattern used and the grid labeling algorithm that makes use of the special markers are described. The results of experiments using this pattern are presented