Active depth detection systems of structured light that combine multiple images to compensate for differences in reflectivity and / or absorption

摘要

A method to compensate for differences in surface reflectivity in an active depth detection system using structured light, the method comprising: obtaining (506a, 514a, 606a), from one or more receiving sensors (105, 208, 304, 806), a plurality of images of a scene (206, 308, 802) on which a code mask (204, 310, 400) is projected (504a, 604a) using a light source (102, 202, 302, 808), the code mask comprising a plurality of unique parts of spatial code, in which the plurality of images is captured by the one or more receiving sensors using two or more exposure times; and combining (614) the plurality of images by extracting decodable parts of the code mask of each image among the plurality of images, to generate a combined image.