Single-shot dense depth sensing with frequency-division multiplexing fringe projection

Abstract In structured light illumination (SLI) systems, multi-shot fringe patterns can reach higher precision than a single-shot fringe pattern. However, multi-shot methods are not suitable for dynamic scenes while single-shot ones are limited in the measurement accuracy. In this paper, a novel single-shot depth sensing method with frequency-division multiplexing (FDM) framework is proposed. To achieve a simultaneous casting, two fringe patterns with coprime periods are modulated into a single pattern. The method of fringe pattern extraction is similar to the demodulation in communication systems. The Gabor filter is adopted to get the phase information in the pattern, and the coprime theorem is used to solve the phase ambiguity. Quantitative and qualitative evaluations have proved that our method achieves higher accuracy in depth sensing compared with the Kinect v1 and ToF camera. In addition, benefiting from the single-shot pattern, our method is suitable for dynamic scenes.

[1]  Yasushi Yagi,et al.  Dense 3D reconstruction method using a single pattern for fast moving object , 2009, 2009 IEEE 12th International Conference on Computer Vision.

[2]  Guangming Shi,et al.  Square wave encoded fringe patterns for high accuracy depth sensing , 2015 .

[3]  Pierre Graebling,et al.  Robust Structured Light Coding for 3D Reconstruction , 2007, 2007 IEEE 11th International Conference on Computer Vision.

[4]  B Gutmann,et al.  Phase unwrapping with the branch-cut method: role of phase-field direction. , 2000, Applied optics.

[5]  André Oosterlinck,et al.  Range Image Acquisition with a Single Binary-Encoded Light Pattern , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[6]  Pratibha Gupta,et al.  Gray Code Composite Pattern Structured Light Illumination , 2007 .

[7]  Sai Siva Gorthi,et al.  Fringe projection techniques: Whither we are? , 2010 .

[8]  Zhiwei Xiong,et al.  Depth Acquisition from Density Modulated Binary Patterns , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[9]  Song Zhang.  Recent progresses on real-time 3D shape measurement using digital fringe projection techniques , 2010 .

[10]  Mihai Datcu,et al.  Bayesian approaches to phase unwrapping: theoretical study , 2000, IEEE Trans. Signal Process..

[11]  C. W. Chen,et al.  Network approaches to two-dimensional phase unwrapping: intractability and two new algorithms. , 2000, Journal of the Optical Society of America. A, Optics, image science, and vision.

[12]  K. Creath.  Phase-Shifting Speckle Interferometry , 1985, Optics & Photonics.

[13]  Jingang Zhong,et al.  Phase retrieval of optical fringe patterns from the ridge of a wavelet transform. , 2005, Optics letters.

[14]  Xianyu Su,et al.  Adaptive windowed Fourier transform in 3-D shape measurement , 2006 .

[15]  Laurence G. Hassebrook,et al.  Depth matched transfer function of the modified composite pattern structured light illumination method , 2014 .

[16]  Xiaolin Li,et al.  Multilevel quality-guided phase unwrapping algorithm for real-time three-dimensional shape reconstruction. , 2007, Applied optics.

[17]  Qian Kemao,et al.  Two-dimensional windowed Fourier transform for fringe pattern analysis: Principles, applications and implementations , 2007 .

[18]  Antonio Baldi.  Phase unwrapping by region growing. , 2003, Applied optics.

[19]  Jingang Zhong,et al.  Dilating Gabor transform for the fringe analysis of 3-D shape measurement , 2004 .

[20]  Jianwei Zhang,et al.  Vision Processing for Realtime 3-D Data Acquisition Based on Coded Structured Light , 2008, IEEE Transactions on Image Processing.

[21]  Xianyu Su,et al.  Reliability-guided phase unwrapping algorithm: a review ☆ , 2004 .

[22]  S. Inokuchi,et al.  Range-imaging system for 3-D object recognition , 1984 .

[23]  Joaquim Salvi,et al.  ' s personal copy Efficient multiple phase shift patterns for dense 3 D acquisition in structured light scanning , 2010 .

[24]  Laurence G. Hassebrook,et al.  A novel two-pattern full lateral resolution structured light illumination method , 2014, Defense + Security Symposium.

[25]  Jason Geng,et al.  Structured-light 3D surface imaging: a tutorial , 2011 .

[26]  Zhiwei Xiong,et al.  Real-Time Scalable Depth Sensing With Hybrid Structured Light Illumination , 2014, IEEE Transactions on Image Processing.

[27]  Serhat Özder,et al.  Continuous wavelet transform analysis of projected fringe patterns , 2004 .

[28]  G. Sansoni,et al.  A 3D vision system based on one-shot projection and phase demodulation for fast profilometry , 2005 .

[29]  M. Takeda,et al.  Frequency-multiplex Fourier-transform profilometry: a single-shot three-dimensional shape measurement of objects with large height discontinuities and/or surface isolations. , 1997, Applied optics.

[30]  B Budianto,et al.  Marker encoded fringe projection profilometry for efficient 3D model acquisition. , 2014, Applied optics.

[31]  Laurence G. Hassebrook,et al.  Composite pattern structured light projection for human computer interaction in space , 2005, SPIE Defense + Commercial Sensing.

[32]  Francis Lilley,et al.  Spatial fringe pattern analysis using the two-dimensional continuous wavelet transform employing a cost function. , 2007, Applied optics.

[33]  A Asundi,et al.  Fast phase-unwrapping algorithm based on a gray-scale mask and flood fill. , 1998, Applied optics.

[34]  Shojiro Sakata,et al.  Reconstruction Of Surfaces Of 3-D Objects By M-array Pattern Projection Method , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[35]  M. Takeda,et al.  Fourier-transform speckle profilometry: three-dimensional shape measurements of diffuse objects with large height steps and/or spatially isolated surfaces. , 1994, Applied optics.

[36]  Jeffrey L. Posdamer,et al.  Surface measurement by space-encoded projected beam systems , 1982, Comput. Graph. Image Process..

[37]  Qian Kemao,et al.  Windowed Fourier transform for fringe pattern analysis: theoretical analyses. , 2008, Applied optics.

[38]  Yongfu Wen,et al.  Two-dimensional phase unwrapping algorithms for fringe pattern analysis: a comparison study , 2015 .

[39]  Laurence G. Hassebrook,et al.  Application of communication theory to high-speed structured light illumination , 1997, Other Conferences.

[40]  C Guan,et al.  Composite structured light pattern for three-dimensional video. , 2003, Optics express.

[41]  V. Srinivasan,et al.  Automated phase-measuring profilometry of 3-D diffuse objects. , 1984, Applied optics.

[42]  M. Takeda,et al.  Fourier transform profilometry for the automatic measurement of 3-D object shapes. , 1983, Applied optics.

[43]  Guangming Shi,et al.  Single Shot Dual-Frequency Structured Light Based Depth Sensing , 2015, IEEE Journal of Selected Topics in Signal Processing.