Dense Depth and Albedo from a Single-shot Structured Light

Single-shot structured light scanning has been actively investigated as it can recover accurate geometric shapes even in dynamic scenes. Since many single-shot approaches focus on improving depth accuracy, recovering the intrinsic properties of the scene, such as albedo and shading, is also valuable. In this paper, we propose a novel method that reconstructs not only the metric depth but also the intrinsic properties from a single structured light image. We extend the conventional color structured light model to embrace the Lambertian shading model. By using a color phase-shifting pattern, we parameterize the captured image with only two variables, albedo and depth. For an initial solution, a simple but powerful method to decompose sinusoids from the input image is presented. We formulate a nonlinear cost function and jointly optimize albedo and depth efficiently by calculating the analytic Jacobian. We demonstrate that our algorithm works reasonably on various real-world objects that exhibit challenging surface reflectance and albedo.