Patent ID: 7804585

Claim:
Method for the acquisition of a range image of a scene from the correspondence of pixels of the images of a first camera and at least one second camera which record the scene in stereo arrangement, the method comprising: illuminating the scene in a first illumination with a random or pseudo random pattern which is designed, with regard to at least one modulation feature in at least one spatial dimension, as a random sequence or, respectively, pseudo random sequence; in the first illumination, a first image is taken by at least two cameras; illuminating the scene in a second illumination, wherein a second image with the second illumination is taken by the at least two cameras; calculating a ratio for at least two cameras, pixel-wise from the first and the second image taken by the corresponding camera in which a modulation feature value of the pixel from the one image is placed in the numerator, and the modulation feature from the other image is placed in the denominator of the ratio value; and determining the correspondence of pixels of the scene on the basis of a comparison of the modulation feature ratios of pixels from different cameras.