Method and apparatus for capturing images and associated 3D model based on a single image sensor and structured-light patterns in the visible spectrum

An apparatus for capturing images of a scene using a camera, the apparatus comprising:

• an image sensor;
• one or more structured light sources;
• one or more processors coupled to the image sensor and said one or more structured light sources, wherein said one or more processors are configured to:
• capture, by the image sensor, one or more non-SL (non-structured light) images formed on a common image plane during one or more first frame periods without any structured light source on;
• capture, by the image sensor, one or more initial SL (structured light) images formed on the common image plane during one or more second periods by projecting structured light patterns in a visible spectrum with said one or more structured light source adjusted to generate initial structured light at one or more initial intensity levels;
• evaluate signal quality of the structured light patterns reflected from one or more objects in a field of view of the image sensor based on said one or more non-SL images and said one or more initial SL images;
• if the signal quality of the structured light patterns is below a threshold, repeating following steps until the signal quality of the structured light patterns is equal to or above the threshold:
• select one or more target intensity levels from a range or a group comprising one target intensity level increased from at least one previous intensity level for said one or more structured light sources;
• capture, by the image sensor, one or more next SL images formed on the common image plane as one or more target SL images during one or more third periods by projecting the structured light patterns in the visible spectrum with said one or more target intensity levels selected;
• and
• evaluate signal quality of the structured light patterns reflected from one or more objects in the field of view of the image sensor based on said one or more non-SL images and said one or more target SL images;
• and
• provide said one or more non-SL images and one or more final target SL images, wherein said one or more final target SL images correspond to said one or more target SL images captured in a last iteration.