Dense Depth and Albedo from a Single-Shot Structured Light

Single-shot structured light scanning has been actively investigated as it can recover accurate geometrical shape even on a dynamic scene. Since many single-shot approaches focus on improving depth accuracy, recovering the intrinsic properties of the scene such as albedo and shading are also valuable. In this paper, we propose a novel method that reconstructs not only the metric depth but also the intrinsic properties from a single structured light image. We extend the conventional color structured light model to embrace the Lambertian shading model. By using a color phase-shifting pattern, we parameterize the captured image with only two variables, albedo and depth. For an initial solution, a simple but powerful method to decompose sinusoids from the input image is presented. We formulate a non-linear cost function and jointly optimize albedo and depth efficiently by calculating analytic Jacobian. We demonstrate that our algorithm reasonably works on various real-world objects which exhibit challenging surface reflectance and albedo.