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This paper describes a technique for reconstructing dynamic scene geometry using a handheld video projector-camera system and a single checkerboard image as a structured light pattern. The proposed technique automatically recognizes a dense checkerboard pattern under dynamic conditions. The pattern-recognition process is adaptive to different light conditions and an object's color, thereby avoiding the need to set threshold values manually for different objects when the scanning device is moving. We also propose a technique to find corresponding positions for the checkerboard pattern, when displayed by a projector, without needing any position-encoding techniques. The correspondence matching process is based on epipolar geometry, enabling the checkerboard pattern to be matched even if parts of it are occluded. By using a dense checkerboard pattern, we can construct a handheld projector-camera system that can acquire the geometry of objects in real time, and we have verified the feasibility of the proposed techniques.

A Dynamic Geometry Reconstruction Technique for Mobile Devices Using Adaptive Checkerboard Recognition and Epipolar Geometry