Hybrid structured light for scalable depth sensing

Time multiplexing and spatial neighborhood are two mainstream structured light techniques widely used for 3D shape measurement. In this paper, we explore a way to subtly integrate their advantages for scalable depth sensing. This is realized through a set of elaborate hybrid structured patterns, which consists of three sinusoidal fringe patterns with different initial phases modulated by a pseudo-random speckle signal. For temporally static scenes, a high resolution, high accuracy depth map can be recovered from the latest three frames by the phase-shifting method; for dynamic scenes, a decent depth map can still be recovered from the current single frame by image matching. Since it provides seamless transition between high quality and quick response options, our method validates a new paradigm of scalable depth sensing in practice.