Robot Vision Laboratory, School of Electrical Engineering, Purdue University, West Lafayette, IN 47907; Department of Electrical Engineering, Ohio State University, Columbus, OH 43.
IEEE Trans Pattern Anal Mach Intell. 1987 Jan;9(1):14-28. doi: 10.1109/tpami.1987.4767869.
In this paper, we discuss a novel strategy for rapid acquisition of the range map of a scene employing color-encoded structured light. This technique offers several potential advantages including increased speed and improved accuracy. In this approach we illuminate the scene with a single encoded grid of colored light stripes. The indexing problem, that of matching a detected image plane stripe with its position in the projection grid, is solved from a knowledge of the color grid encoding. In fact, the possibility exists for the first time to acquire high-resolution range data in real time for modest cost, since only a single projection and single color image are required. Grid to grid alignment problems associated with previous multistripe techniques are eliminated, as is the requirement for dark interstices between grid stripes. Scene illumination is more uniform, simplifying the stripe detection problem, and mechanical difficulties associated with the equipment design are significantly reduced.
在本文中，我们讨论了一种利用彩色编码结构光快速获取场景距离图的新策略。该技术具有速度快、精度高等潜在优势。在这种方法中，我们用单个编码的彩色光条纹网格照亮场景。索引问题，即检测到的图像平面条纹与其在投影网格中的位置匹配的问题，可通过对颜色网格编码的了解来解决。实际上，由于仅需要单个投影和单个彩色图像，因此首次有可能以适中的成本实时获取高分辨率的距离数据。消除了先前多条纹技术中存在的网格到网格对准问题，以及网格条纹之间需要暗间隙的要求。场景照明更加均匀，简化了条纹检测问题，并且大大减少了与设备设计相关的机械困难。
