High-speed simultaneous measurement of depth and normal for real-time 3D reconstruction

3D shape measurement technology is expected to be applied in a wide range of research fields. In particular, systems and methods for high-speed 3D shape measurements are needed when a target object is moving or deforming. Besides, in most 3D shape measurement systems, 3D geometry is reconstructed only from depth information and lacks high-frequency surface details. On the other hand, a 3D reconstruction based on surface normal can recover the high-frequency component but involves errors in the low-frequency component due to integration. In other words, depth and normal are complementary in 3D shape measurement. In this paper, we propose a new optical system setup for high-speed simultaneous measurement of depth and normal with an active stereo method and a photometric stereo method. The proposed method realizes the 3D shape measurement at 400 fps with absolute positional information and detailed surface information.