Fast and accurate depth sensing has long been a significant research challenge. Event camera, as a device that quickly responds to intensity changes, provides a new solution for structured light (SL) systems. In this paper, we introduce Gray code into event-based SL systems for the first time. Our setup includes an event camera and Digital Light Processing (DLP) projector, enabling depth estimation through high-speed projection and decoding of Gray code patterns. By employing spatio-temporal encoding for point matching, our method is immune to timestamp noise, realizing high-speed depth estimation without loss of accuracy. The binary nature of events and Gray code minimizes data redundancy, enabling us to fully utilize sensor bandwidth at 100%. Experimental results show that our approach achieves accuracy comparable to state-of-the-art scanning methods while surpassing them in data acquisition speed (up to 41 times improvement) without sacrificing accuracy. Our proposed approach offers a highly promising solution for ultra-fast, real-time, and high-precision dense depth estimation. Code and dataset will be publicly available.

通过将格雷码引入事件式结构光系统，我们采用了一种高速、准确的深度估计方法，充分利用传感器带宽，实现了与最先进的扫描方法相媲美的精确度，并在数据采集速度上超越它们（提高了多达41倍），而不牺牲准确性。我们的方法为超高速、实时和高精度的深度估计提供了极有前景的解决方案，代码和数据集将公开提供。

SGE：基于灰码和事件相机的结构光系统