One-shot monochromatic symbol pattern for 3D reconstruction using perfect submap coding

Monochromatic perfect submap coding is a technique which utilizes structured light to reconstruct three-dimensional shapes. This coding strategy is robust against occlusions, suitable for dynamic scene detection, and less sensitive to colorful surface when compared to color coding. However, perfect submap patterns are often poor in terms of resolution and accuracy. In this work, the symbol density spectrum (SDS) and its features are used to choose symbols for improving resolution and decreasing decoding error of perfect submap symbol patterns. The proposed SDS provides a distribution of symbol points for reconstruction after which 10 symbol features are extracted. Following a comparative analysis of the symbol features and scene testing of symbols damage rate, a new density pattern is formed using nine symbols chosen from one group. A 3D reconstruction experiment showed that results obtained by this method are of a higher resolution compared with other existing monochromatic spatial coding techniques and are robust against color surface.