3D shape construction and recognition by fusing intensity and structured lighting

A new technique is developed for 3D shape reconstruction and recognition from 2D images of multiple objects with mutual occlusion. To facilitate such an analysis, both intensity and structured-light coded images are used. From intensity images, equi-brightness contours, which are swaths of points sharing similar intensities, are located for a qualitative classification of homogeneous regions. To achieve a quantitative description of the shape and orientation of the imaged surfaces, an analysis is made of the projected pattern in the corresponding structured-light coded images