Two-shot sparse depth estimation using adaptive structured light

Presented is a low-cost two-shot approach employing a projector and a camera to recover an object´s sparse shape. The algorithm is based on projecting a grid pattern of adaptive colours which vary with the object and then matching grid points between the projected pattern and the image captured under this adaptive structured light. Results show the performance of this adaptive colours approach is superior to using constant colours in shape recovery of real-world objects with strong colours and textures under ambient light conditions.