Binocular vision measurement using Dammann grating

In this paper, we propose a novel three-dimensional (3D) profilometry using a binocular camera and a 64 × 64 Dammann grating for generation of a regular square laser array. A new constraint called a "ray constraint," taking advantage of the splitting characteristic of Dammann grating, is proposed for binocular matching. Binocular matching is realized by using ray constraint and precalibration of a laser array. Point clouds without outliers are obtained with binocular matching results according to triangulation. The experimental apparatus weighs less than 170 g with a width of less than 14 cm. We used this apparatus to scan a statue of Apollo under indoor illumination (at 450 lux). Its 3D model with complex profile was reconstructed by more than 150,000 points. This 3D profilometry has advantages of low cost, low power, and small size and should be useful for practical applications.