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This paper presents a series of enhancements to a color-coded structured light range sensor that increases the adaptability to complex and unconstrained scenes. First, the projected pattern is made more visible on colored objects by replacing the unique colored pattern with time-multiplexed pseudo-color channels. Second, an exposure fusion algorithm is used when acquiring images to allow the detection...
This paper presents a methodology to combine information from a sequence of RGB-D spherical views acquired by a home-made multi-stereo device in order to improve the computed depth images both in terms of accuracy and completeness. This methodology is embedded in a larger visual mapping framework aiming to produce accurate and dense topometric urban maps. Our method is based on two main filtering...
Depth sensors based on Time-of-Flight (ToF) and Phase Shifting (PS) have complementary strengths and weaknesses. ToF can provide real-time depth but limited in resolution and sensitive to noise. PS can generate accurate and robust depth with high resolution but requires a number of patterns that leads to high latency. In this paper, we propose a novel fusion framework to take advantages of both ToF...
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