Surface Modeling with Structured Light

Structured light patterns are projected onto an object and images of the structured light interacting with the surface of the object are acquired, as well as grayscale information. Edges within the structured light patterns are detected and depth sample points on the edges are used to determine distance to those sample points. The grayscale information is used to construct surface normals. From these normals relative surface contours such as curves or slopes may be determined. A model of a surface of the object is generated using the distances and the contours.