Multi-state objects depth acquisition based on binocular structured light

摘要

Three-dimensional depth perception using structured light has been widely researched and developed due to its robustness, high precision, and density. An open research issue exists with current structured light technology to obtain depth maps of scenes with objects in different motion states, while ensuring high accuracy and resolution. In this paper, a new algorithm for depth acquisition of multi-state targets is designed. A novel projection pattern is designed based on sinusoidal, speckle and line patterns. The foreground targets are separated according to the background segmentation technology, and regions with different motion states are divided into static, slow motion or fast motion regions. Then, the different motion states are used to select different pattern decoding schemes. In the experiments, the depth of multi-state objects are successfully calculated by our technique.