A novel event-based structured light system for high-precision and high-speed depth sensing
Gongzhe Su, Fulong Sun, Wei Wang, Wei Xi
Abstract
This paper presents a novel event-based depth sensing system with line laser scan. Our main contribution involves both hardware and software improvements to previous state-of-the-art works. The polygon mirror scanner is designed to steer line laser with a constant velocity, which minimizes non-linearity of the projected time map to improve depth precision. A piecewise linear model is then proposed to model the behavior of the scanner, which is simple and easy to calibrate. The corresponding reconstruction pipeline achieves a high-speed depth map with an efficient plane-ray intersection-based depth calculation. Experimental results verify the approach is capable of realizing 0.6mm precision at a distance of 500mm and 8.3ms depth reconstruction runtime on embedded platforms.
BibTeX
@inproceedings{iros2025_anoveleventbased,
title = {A novel event-based structured light system for high-precision and high-speed depth sensing},
author = {Gongzhe Su and Fulong Sun and Wei Wang and Wei Xi},
booktitle = {IROS 2025},
year = {2025}
}