Single-shot dense depth sensing with frequency-division multiplexing fringe projection

In structured light illumination (SLI) systems, multi-shot fringe patterns can reach higher precision than a single-shot fringe pattern. However, multi-shot methods are not suitable for dynamic scenes while single-shot ones are limited in the measurement accuracy. In this paper, a novel single-shot depth sensing method with frequency-division multiplexing (FDM) framework is proposed. To achieve a simultaneous casting, two fringe patterns with coprime periods are modulated into a single pattern. The method of fringe pattern extraction is similar to the demodulation in communication systems. The Gabor filter is adopted to get the phase information in the pattern, and the coprime theorem is used to solve the phase ambiguity. Quantitative and qualitative evaluations have proved that our method achieves higher accuracy in depth sensing compared with the Kinect v1 and ToF camera. In addition, benefiting from the single-shot pattern, our method is suitable for dynamic scenes.