Robust Structured Light Coding for 3D Reconstruction

TLDR

The authors introduce a monochromatic structured‑light pattern based on an M‑array spatial‑neighborhood scheme designed for fast, reliable real‑time 3‑D reconstruction of dynamic scenes such as endoscopic surgery. The pattern encodes a small set of symbol primitives that capture local orientation, enabling efficient neighborhood search during decoding within the M‑array framework. Experimental results show the pattern is highly robust, achieving an average Hamming distance greater than six, and the decoding algorithm performs reliably on simple 3‑D scenes and on the internal structures of a pig abdomen.

Abstract

In this paper we present a new monochromatic pattern for a robust structured light coding based on the spatial neighborhood scheme using the M-array approach. The proposed pattern is robust as it allows a high error rate characterized by an average Hamming distance higher than 6. We tackle the design problem with the definition of a small set of symbols associated to simple geometrical primitives. One of these primitives embeds the local orientation of the pattern. This is helpful while performing the search for the relevant neighborhood during the decoding process. The aim of this work is to use this pattern for the real-time 3-D reconstruction of dynamic scenes, particularly in endoscopic surgery, with fast and reliable detection and decoding stages. Ongoing results are presented to assess both the capabilities of the proposed pattern and the reliable decoding algorithm with projections onto simple 3-D scenes and onto internal structures of a pig abdomen.