A sensor that extracts both 3D shape and surface texture

A sensor is proposed with interesting characteristics for applications such as autonomous navigation and virtual reality. The system extracts both 3D shape and surface texture. It is based on the projection of a regular pattern, observed by a single camera. It is cheap, requiring only a slide projector and a camera. Shape and intensity are extracted from one and the same image, thereby avoiding shape/texture alignment problems. Furthermore, the system is easy to use and calibrate. Because both the shape and the intensity information is obtained from a single image, the system can be used in dynamic environments, allowing robots to navigate during data acquisition or graphics designers to model moving objects for animation and virtual reality purposes. The system combines advantages of passive and active range acquisition