Color Structured Light Stripe Edge Detection Method Based on Generative Adversarial Networks

The one-shot structured light method using a color stripe pattern can provide a dense point cloud in a short time. However, the influence of noise and the complex characteristics of scenes still make the task of detecting the color stripe edges in deformed pattern images difficult. To overcome these challenges, a color structured light stripe edge detection method based on generative adversarial networks, which is named horizontal elastomeric attention residual Unet-based GAN (HEAR-GAN), is proposed in this paper. Additionally, a De Bruijn sequence-based color stripe pattern and a multi-slit binary pattern are designed. In our dataset, selecting the multi-slit pattern images as ground-truth images not only reduces the labor of manual annotation but also enhances the quality of the training set. With the proposed network, our method converts the task of detecting edges in color stripe pattern images into detecting centerlines in curved line images. The experimental results show that the proposed method can overcome the above challenges, and thus, most of the edges in the color stripe pattern images are detected. In addition, the comparison results demonstrate that our method can achieve a higher performance of color stripe segmentation with higher pixel location accuracy than other edge detection methods.