Range image acquisition of objects with non-uniform albedo using structured light range sensor

We present an approach to acquisition of range images of objects with non-uniform albedo using a structured light sensor. The main idea is to systematically vary the intensity of the light projector and to form high dynamic scale radiance maps. The range images are then formed from these radiance maps. We tested the method on the objects which have surfaces with very different reflectance properties. We demonstrate that the range images obtained from the high dynamic scale radiance maps are of much better quality, than those obtained directly from the original images of a limited dynamic scale.