Patent ID: 7483151

Claim:
Active 3D triangulation-based imaging method comprising steps of: temporally modulating a radiant flux of a lighting unit beam by a binary modulation signal (ms); illuminating a scene (S), which is illuminated by an ambient lighting (AL), by said modulated lighting unit beam (mlub); splitting a ray (ir) imaging a point (SP) of the scene (S) into two separate imaging rays (ir 1 , ir 2 ); said first separate imaging ray (ir 1 ) forming an image of the scene point (SP) in a first image sensor (is 1 ); temporally modulating a radiant flux of the second separate imaging ray (ir 2 ) by the binary modulation signal (ms) and said modulated second separate imaging ray (ir 2 m ) forming an image of the scene point (SP) in a second image sensor (is 2 ); normalizing a first scene image being an image of all points of the scene (S) formed in the first sensor (is 1 ) and a second scene image being an image of all points of the scene (S) formed in the second sensor (is 2 ); and subtracting the first normalized scene image from the second normalized scene image.