High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use structured light, time-of-flight, and stereo in high-speed settings have usually required tradeoffs in resolution or inaccuracy. In this paper, we introduce a method that enables, for the first time, 3D scanning at 450 frames per second at 1~Megapixel, or 1,450 frames per second at 0.4~Megapixel in an environment with controlled lighting. The key idea is to use a per-pixel lookup table that maps colors to depths, which is built using a linear stage. Imperfections, such as lens-distortion and sensor defects are baked into the calibration. We describe our method and test it on a novel hardware prototype. We compare the system with both ground-truth geometry as well as commercially available dynamic sensors like the Microsoft Kinect and Intel Realsense. Our results show the system acquiring geometry of objects undergoing high-speed deformations and oscillations and demonstrate the ability to recover physical properties from the reconstructions.

翻译：高速、高分辨率且精确的三维扫描，将通过对交互过程中的可变形物体进行精确扫描，为图形学、机器人学、科学和医学领域的诸多新应用开启大门。以往在高速场景下使用结构光、飞行时间法或立体视觉的尝试，通常需要在分辨率或精度方面做出妥协。本文提出了一种新方法，首次实现了在可控光照环境下，以每秒450帧的速度进行1百万像素扫描，或以每秒1450帧的速度进行0.4百万像素扫描。其核心思想是使用一个将颜色映射到深度的逐像素查找表，该表通过线性位移台标定构建。镜头畸变、传感器缺陷等不完美因素均被纳入标定过程。我们详细描述了该方法，并在一个新型硬件原型上进行了测试。我们将该系统与真实几何数据以及微软Kinect、英特尔Realsense等商用动态传感器进行了比较。实验结果表明，该系统能够获取高速形变和振动物体的几何形状，并展示了从重建结果中恢复物理特性的能力。