Single Shot Dual-Frequency Structured Light Based Depth Sensing

Structured light techniques are widely used for depth sensing. In this paper, we propose a single shot dual-frequency structured light based method to achieve dense depth in dynamic scenes. The projected pattern is a mixture of two different periodical waves whose phases are related to the change of color and intensity respectively, which can avoid the requirement of Fourier spectra separation in other multi-frequency patterns. Gabor filter is adopted to interpolate the phases. The number theory is used to deal with the phase ambiguity in phase based method conveniently and speedily. A dense depth can be achieved because of the phase-based encoding mode. The proposed method is suitable for dense depth acquisition of the moving object. Experimental results show higher accuracy of the proposed method in depth acquisition compared with the Kinect and larger resolution compared with the ToF (Time of Flight) depth camera. Meanwhile, the proposed method can also acquire the depth of the color scenes and is robust to the surface texture of objects.