Systems, methods, and media for directly recovering planar surfaces in a scene using structured light

A method for recovering planes in a scene, the method comprising:

• causing a light source to emit a two-dimensional light pattern toward the scene, wherein the two-dimensional light pattern comprises a pattern feature that is disposed on a first epipolar line, the pattern feature comprising two intersecting line segments that intersect at a point that is located on the first epipolar line;
• causing an image sensor to capture an image of the scene including at least a portion of the light pattern;
• identifying an image feature in the image, the image feature comprising two intersecting line segments that intersect at a point in the image that corresponds to the first epipolar line;
• identifying at least the pattern feature as potentially corresponding to the image feature based on the image feature and the pattern feature both being associated with the first epipolar line;
• estimating a plane hypothesis associated with the pattern feature based on properties of the pattern feature and properties of the image feature, wherein the plane hypothesis is associated with a set of parameters that characterize a plane;
• and
• identifying a planar surface in the scene based on the plane hypothesis.

A non-transitory computer readable medium containing computer executable instructions that, when executed by a processor, cause the processor to perform a method for recovering planes in a scene, the method comprising:

• causing a light source to emit a two-dimensional light pattern toward the scene, wherein the two-dimensional light pattern comprises a pattern feature that is disposed on a first epipolar line, the pattern feature comprising two intersecting line segments that intersect at a point that is located on the first epipolar line;
• causing an image sensor to capture an image of the scene including at least a portion of the light pattern;
• identifying an image feature in the image, the image feature comprising two intersecting line segments that intersect at a point in the image that corresponds to the first epipolar line;
• identifying at least the pattern feature as potentially corresponding to the image feature based on the image feature and the pattern feature both being associated with the first epipolar line;
• estimating a plane hypothesis associated with the pattern feature based on properties of the pattern feature and properties of the image feature, wherein the plane hypothesis is associated with a set of parameters that characterize a plane;
• and
• identifying a planar surface in the scene based on the plane hypothesis.