Robust Depth Image Acquisition Using Modulated Pattern Projection and Probabilistic Graphical Models

作     者：Kravanja, Jaka Zganec, Mario Zganec-Gros, Jerneja Dobrisek, Simon Struc, Vitomir 

作者机构：Alpineon Doo Ulica Iga Grudna 15 SI-1000 Ljubljana Slovenia Univ Ljubljana Fac Elect Engn Trzaska Cesta 25 SI-1000 Ljubljana Slovenia 

出 版 物：《SENSORS》 (传感器)

年 卷 期：2016年第16卷第10期

页      面：1740-1740页

核心收录：

学科分类：0710[理学-生物学] 071010[理学-生物化学与分子生物学] 0808[工学-电气工程] 07[理学] 0804[工学-仪器科学与技术] 0703[理学-化学] 

基　　金：European Union European Social Fund ARRS Research Programme [P2-0250(B)] 

主　　题：depth imaging modulated acquisition structured light triangulation probabilistic graphical models 3D reconstruction 

摘      要：Depth image acquisition with structured light approaches in outdoor environments is a challenging problem due to external factors, such as ambient sunlight, which commonly affect the acquisition procedure. This paper presents a novel structured light sensor designed specifically for operation in outdoor environments. The sensor exploits a modulated sequence of structured light projected onto the target scene to counteract environmental factors and estimate a spatial distortion map in a robust manner. The correspondence between the projected pattern and the estimated distortion map is then established using a probabilistic framework based on graphical models. Finally, the depth image of the target scene is reconstructed using a number of reference frames recorded during the calibration process. We evaluate the proposed sensor on experimental data in indoor and outdoor environments and present comparative experiments with other existing methods, as well as commercial sensors.