US Patent 9294758 Determining depth data for a captured image

A method, system, and one or more computer-readable storage media for depth acquisition from density modulated binary patterns are provided herein. The method includes capturing a number of images for a scene using an IR camera and a number of IR lasers including diffraction grates. Each image includes a density modulated binary pattern carrying phase information. The method also includes performing pixel based phase matching for the images to determine depth data for the scene based on the phase information carried by the density modulated binary patterns.