Single-Shot Colored Speckle Pattern for High Accuracy Depth Sensing

Structured light techniques are widely used in the depth measurement. In this paper, we propose a colored speckle method for high-accuracy depth sensing. The projected pattern is a composite of the discrete phase information and the colored De Bruijn sequence information, which can prove the feasibility, in practice, and the robustness to the environment. A Gabor filter is used to estimate the wrapped phase. To alleviate the phase ambiguity of conventional measurement methods, the period of the phase is distributed in two channels of the colored pattern by the De Bruijn sequence decoding. A morphological closure is adopted to determine the De Bruijn code by the phase neighborhoods back and forth. The proposed method is suitable for a dynamic scene. The quantitative and qualitative experiments are conducted, in practice, to evaluate the performance of the proposed method. The results of the experiments prove that not only can our proposed method achieve high accuracy and dense depth map, but it is also suitable for color object and dynamic scenes indoors.