High-speed three-dimensional shape measurement based on tripartite complementary Gray-coded light.

In phase-shifting profilometry based on the Gray code, the jump error is inevitably generated and is further amplified in dynamic scenes. To tackle this problem, we propose the robust tripartite complementary Gray code method (TCG). Without projecting additional patterns, TCG uses different combinations of Gray code to calculate three complementary orders able to avoid jump error in the unwrapping process. TCG is efficient and robust, as it fully utilizes the redundant information of the Gray code. Experimental results demonstrate that TCG can realize high-efficiency and high-speed three-dimensional shape measurement at a rate of 500 fps.