Lab meeitng 27 July, 2006 (Eric): Real-Time Range Acquisition by Adaptive Structured Light

Thomas P. Koninckx and Luc Van Gool

Abstract—The goal of this paper is to provide a “self-adaptive” system for real-time range acquisition. Reconstructions are based on asingle frame structured light illumination. Instead of using generic, static coding that is supposed to work under all circumstances, systemadaptation is proposed. This occurs on-the-fly and renders the system more robust against instant scene variability and creates suitablepatterns at startup. A continuous trade-off between speed and quality is made. A weighted combination of different coding cues—basedupon pattern color, geometry, and tracking—yields a robust way to solve the correspondence problem. The individual coding cues areautomatically adapted within a considered family of patterns. The weights to combine them are based on the average consistency withthe result within a small time-window. The integration itself is done by reformulating the problem as a graph cut. Also, the cameraprojectorconfiguration is taken into account for generating the projection patterns. The correctness of the range maps is not guaranteed,but an estimation of the uncertainty is provided for each part of the reconstruction. Our prototype is implemented using unmodifiedconsumer hardware only and, therefore, is cheap. Frame rates vary between 10 and 25 fps, dependent on scene complexity.

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