STRUCTURED LIGHT SUBPIXEL ACCURACY ISP PIPELINE/FAST SUPER RESOLUTION STRUCTURED LIGHT

摘要

A structured-light three-dimensional sensing system configured to project dots forming a structured light pattern including multiple unique patterns, configured to capture an image of an object, configured to recognize the dots, perceive the unique patterns, associate each pixel with the unique patterns, and assign a class ID representing a unique pattern and a subclass ID representing a portion of the unique pattern to each of the pixels, configured to count a number of neighboring pixels having the same assigned class ID, for each class ID, determine the pixel having a greatest number of neighboring pixels having the same assigned class ID as a center pixel, and, for each pixel belonging to a dot, re-arranging according to the pixel's sub-class ID, and configured to determine a disparity of each dot from a respective reference point, and to estimate a depth of a feature of the object.