Structured light system for robust geometry acquisition

STRUCTURED LIGHT SYSTEM FOR ROBUST GEOMETRY ACQUISITION 5 Disclosed is a method of determining at least two coordinates (790) of a reference point (780) on an object in three-dimensional space in a scene captured by an image sensor. The object is irradiated simultaneously by a plurality of spatio-temporally modulated light sources (710,720), at least one of the spatio-temporally modulated light sources being modulated at a different spatio-temporal frequency to another of the plurality. The method 10 generates a composite phase signal (630,640) on the object in the scene by a predetermined geometric arrangement of the plurality of spatio-temporally modulated light sources, each one of said plurality of light sources having a known position in the three-dimensional space and captures (910) the composite phase signal at the reference point with the image sensor. A processing arrangement determines from the captured composite phase signal, a 15 set of measured positioning parameters (measured carrier phase IJ), used in the determination of at least two coordinates of the reference point, from the plurality of light sources, wherein the set of measured positioning parameters is determined independent of a position of the image sensor. The method then determines at least two coordinates at the reference point using the set of measured positioning parameters from the plurality of light 20 sources. P019423_speci lodge \ 110 170 180 120 Fig. 1 P019423_figslodge