Based on recent discoveries, we introduce a method to project a single structured pattern onto an object and then reconstruct the three-dimensional range from the distortions in the reflected and captured image. Traditional structured light methods require several different patterns to recover the depth, without ambiguity or albedo sensitivity, and are corrupted by object movement during the projection/capture process. Our method efficiently combines multiple patterns into a single composite pattern projection allowing for real-time implementations. Because structured light techniques require standard image capture and projection technology, unlike time of arrival techniques, they are relatively low cost.

© 2002 Optical Society of America

1. G. Schmaltz of Schmaltz Brothers Laboratories, �??A method for presenting the profile curves of rough surfaces,�?? Naturwiss 18, 315�??316 (1932). [CrossRef]
2. P. M. Will and K. S. Pennington, �??Grid coding: A preprocessing technique for robot and machine vision,�?? Artif. Intell. 2, 319�??329 (1971). [CrossRef]
3. R. C. Daley and L. G. Hassebrook, �??Channel capacity model of binary encoded structured lightstripe illumination,�?? Appl. Opt. 37, 3689�??3696 (1998). [CrossRef]
4. J. L. Posdamer and M. D. Altschuler, �??Surface measurement by space-encoded projected beam systems,�?? Comput. Vision Graph. Image Process. 18, 1�??17 (1982). [CrossRef]
5. V. Srinivasan, H. C. Liu, and M. Halioua, �??Automated phase measuring profilometry: a phase mapping approach,�?? Appl. Opt. 24, 185�??188 (1985). [CrossRef] [PubMed]
6. Jielin Li and L. G. Hassebrook, �??A robust svd based calibration of active range sensors,�?? in SPIE Proceedings on Visual Information Processing IX, S. K. Park and Z. Rahman, eds., (2000).
7. Q. Fang and S. Zheng, �??Linearly coded profilometry,�?? Appl. Opt. 36, 2401�??2407 (1997). [CrossRef] [PubMed]
8. K. Boyer and A. Kak, �??Color-encoded structured light for rapid active ranging,�?? IEEE Trans. Pattern. Anal. Mach. Intell. 9, 2724�??2729 (1991).
9. O. A. Skydan, M. J. Lalor, and D. R. Burton, �??Technique for phase measurement and surface reconstruction by use of colored structured light,�?? Appl. Opt. 41, 6104�??6117 (2002). [CrossRef] [PubMed]
10. D. S. Goodman and L. G. Hassebrook, �??Face recognition under varying pose,�?? IBM Technical Disclosure Bulletin 27, 2671�??2673 (1984).
11. B. Carrihill and R. Hummel, �??Experiments with intensity ratio depth sensor,�?? Comput. Vision Graph. Image Process. 32, 337�??358 (1985). [CrossRef]
12. M. Maruyama and S. Abe, �??Range sensing by projecting multiple slits with random cuts,�?? IEEE Trans. Pattern. Anal. Mach. Intell. 15, 647�??651 (1993). [CrossRef]
13. L. G. Hassebrook, R. C. Daley, and W. Chimitt, �??Application of communication theory to high speed structured light illumination,�?? in SPIE Proceedings, Harding and Svetko., eds., Proc. 3204(15), 102�??113 (1997)
14. G. Goli, C. Guan, L. G. Hassebrook, and D. L. Lau, �??Video rate three dimensional data acquisition using composite light structure pattern,�?? Tech. Rep. CSP 02-002, University of Kentucky, Department of Electrical and Computer Engineering, Lexington, KY USA (2002).
15. J. Batlle, E. Mouaddib, and J. Salvi, �??Recent progress in coded structured light as a technique to solve the correspondence problem: A survey,�?? Pattern Recogn. 31, 963�??982 (1998) [CrossRef]
16. F. Chen, G. M. Brown, and M. Song, �??Overview of three-dimensional shape measurement using optical methods,�?? Opt. Eng. 39, 10�??22 (2000). [CrossRef]
17. J. L. Li, H. J. Su, and X. Y. Su, �??Two-frequency grating used in phase-measuring profilometry,�?? Appl. Opt. 36, 277�??280 (1997). [CrossRef] [PubMed]
18. T. R. Judge and P. J. Bryanston-Cross, �??A review of phase unwrapping techniques in fringe analysis,�?? Opt. Lasers Eng. 21, 199�??239 (1994). [CrossRef]
19. H. Zhao, W. Chen, and Y. Tan, �??Phase-unwrapping algorithm for the measurement of threedimensional object shapes,�?? Appl. Opt. 33, 4497�??4500 (1994). [CrossRef] [PubMed]
20. J. Li, L.G. Hassebrook, and Chun Guan, �??Optimized two-frequency phase measuring pro.lometry light sensor temporal noise sensitivity,�?? J. Opt. Soc. Am. A 20, 106�??115 (2003). [CrossRef]

Appl. Opt.

• R. C. Daley and L. G. Hassebrook, �??Channel capacity model of binary encoded structured lightstripe illumination,�?? Appl. Opt. 37, 3689�??3696 (1998). [CrossRef]
• V. Srinivasan, H. C. Liu, and M. Halioua, �??Automated phase measuring profilometry: a phase mapping approach,�?? Appl. Opt. 24, 185�??188 (1985). [CrossRef] [PubMed]
• Q. Fang and S. Zheng, �??Linearly coded profilometry,�?? Appl. Opt. 36, 2401�??2407 (1997). [CrossRef] [PubMed]
• O. A. Skydan, M. J. Lalor, and D. R. Burton, �??Technique for phase measurement and surface reconstruction by use of colored structured light,�?? Appl. Opt. 41, 6104�??6117 (2002). [CrossRef] [PubMed]
• J. L. Li, H. J. Su, and X. Y. Su, �??Two-frequency grating used in phase-measuring profilometry,�?? Appl. Opt. 36, 277�??280 (1997). [CrossRef] [PubMed]
• H. Zhao, W. Chen, and Y. Tan, �??Phase-unwrapping algorithm for the measurement of threedimensional object shapes,�?? Appl. Opt. 33, 4497�??4500 (1994). [CrossRef] [PubMed]

Artif. Intell.

• P. M. Will and K. S. Pennington, �??Grid coding: A preprocessing technique for robot and machine vision,�?? Artif. Intell. 2, 319�??329 (1971). [CrossRef]

Comput. Vision Graph. Image Process

• J. L. Posdamer and M. D. Altschuler, �??Surface measurement by space-encoded projected beam systems,�?? Comput. Vision Graph. Image Process. 18, 1�??17 (1982). [CrossRef]
• B. Carrihill and R. Hummel, �??Experiments with intensity ratio depth sensor,�?? Comput. Vision Graph. Image Process. 32, 337�??358 (1985). [CrossRef]

IBM Technical Disclosure Bulletin

• D. S. Goodman and L. G. Hassebrook, �??Face recognition under varying pose,�?? IBM Technical Disclosure Bulletin 27, 2671�??2673 (1984).

IEEE Trans. Pattern. Anal. Mach. Intell.

• M. Maruyama and S. Abe, �??Range sensing by projecting multiple slits with random cuts,�?? IEEE Trans. Pattern. Anal. Mach. Intell. 15, 647�??651 (1993). [CrossRef]
• K. Boyer and A. Kak, �??Color-encoded structured light for rapid active ranging,�?? IEEE Trans. Pattern. Anal. Mach. Intell. 9, 2724�??2729 (1991).

J. Opt. Soc. Am. A

• J. Li, L.G. Hassebrook, and Chun Guan, �??Optimized two-frequency phase measuring pro.lometry light sensor temporal noise sensitivity,�?? J. Opt. Soc. Am. A 20, 106�??115 (2003). [CrossRef]

Naturwiss

• G. Schmaltz of Schmaltz Brothers Laboratories, �??A method for presenting the profile curves of rough surfaces,�?? Naturwiss 18, 315�??316 (1932). [CrossRef]

Opt. Eng.

• F. Chen, G. M. Brown, and M. Song, �??Overview of three-dimensional shape measurement using optical methods,�?? Opt. Eng. 39, 10�??22 (2000). [CrossRef]

Opt. Lasers Eng.

• T. R. Judge and P. J. Bryanston-Cross, �??A review of phase unwrapping techniques in fringe analysis,�?? Opt. Lasers Eng. 21, 199�??239 (1994). [CrossRef]

Pattern Recogn.

• J. Batlle, E. Mouaddib, and J. Salvi, �??Recent progress in coded structured light as a technique to solve the correspondence problem: A survey,�?? Pattern Recogn. 31, 963�??982 (1998) [CrossRef]

Proc. SPIE

• L. G. Hassebrook, R. C. Daley, and W. Chimitt, �??Application of communication theory to high speed structured light illumination,�?? in SPIE Proceedings, Harding and Svetko., eds., Proc. 3204(15), 102�??113 (1997)
• Jielin Li and L. G. Hassebrook, �??A robust svd based calibration of active range sensors,�?? in SPIE Proceedings on Visual Information Processing IX, S. K. Park and Z. Rahman, eds., (2000).

Other

• G. Goli, C. Guan, L. G. Hassebrook, and D. L. Lau, �??Video rate three dimensional data acquisition using composite light structure pattern,�?? Tech. Rep. CSP 02-002, University of Kentucky, Department of Electrical and Computer Engineering, Lexington, KY USA (2002).

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