A Differential Optical Range Camera

We describe a novel formulation of the range recovery problem, based on computation of the differential variation in image intensities with respect to changes in camera position. The method uses a single stationary camera and a pair of calibrated optical attenuation masks to directly measure this differential quantity. The subsequent computation of the range image is simple and should be suitable for real-time implementation. We have constructed and tested a prototype range camera based on these principles.

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