Depth Sensing of Complex Scenes Using a Multimodal Pseudo-Random Structured Light

The structured light techniques consisting of a light pattern with a regular structure in have been used widely for depth sensing. Traditional structured light pattern using the pattern with the fixed density and intensity is difficult to obtain the accuracy depth data. In this paper, We propose a depth sensing method of complex scenes by using a multimodal pattern consisting of structure lights with different intensities and densities. By roughly initializing depth of the scene and partitioning the scene into sub regions of different depths, we construct the pattern with multiple pseudo-random speckles, each patch of which takes suitable intensity and density with respect to a sub region of the scene. Because such a multimodal pattern decreases the blurs incurred by objects of different distances, by using only a one-shot pattern, our method proposes both more accuracy and more efficiency compared with traditional structured light patterns. Experimental results show that our method recovers better depth qualities than one-shot pseudo-random pattern.