Abstract This paper presents a depth perception system based on one-shot coding structured light method. The designed monochromatic pattern is robust against occlusion and sharp deformation, suitable for dynamic scene, and less sensitive for color interference, with symbol density spectrum (SDS) rule, legitimately increasing number of feature points inside element which further enhancing resolution. For the decoding stage, firstly, the proposed adaptive-symmetry-template (ASD) can robustly detect feature points, secondly, in virtue of transfer learning, using DenseNet to identify element label, thirdly, graph topological structure and look-up-table (LUT) help reducing decoding time. The experiments show that the encoding method increases resolution fairly a lot and for several complex objects, the decoding method can achieve high accuracy and keep robustness.

中文翻译：

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基于单色形状编解码结构光方法的深度感知

摘要 本文提出了一种基于一次性编码结构光方法的深度感知系统。设计的单色图案对遮挡和尖锐变形具有鲁棒性，适用于动态场景，对颜色干扰不太敏感，采用符号密度谱（SDS）规则，合理增加元素内部特征点的数量，进一步提高分辨率。对于解码阶段，首先，提出的自适应对称模板（ASD）可以鲁棒地检测特征点，其次，凭借迁移学习，使用 DenseNet 识别元素标签，其次，图拓扑结构和查找表（ LUT) 有助于减少解码时间。实验表明，编码方法提高了相当多的分辨率，并且对于几个复杂的对象，