A Multishutter Time Sensor for Multispectral Imaging in a 3-D Reconstruction Integrated Sensor

The work presented here is related to Cyclope, an integrated active 3-D vision system. The challenge is to realize an integrated sensor which achieve real-time depth vision with constraints on size, consumption and computational resources. In this paper, we present acquisition method which allows to grab both texture and IR pattern images at least at 25 frames/s. The method uses a pulsed IR laser pattern projector and CMOS image sensor with programmable integration time. This sensor is realized in a standard CMOS technology and does not envolve any special optical filtering. We present some experimental results with the realization of a large scale demonstrator using a SOPC prototyping board and the said image sensor.