# SGE: Structured Light System Based on Gray Code with an Event Camera

arXiv: https://arxiv.org/abs/2403.07326 · HTML: https://mlsanity.com/paper/2403.07326/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 59 references that are in the map.
- First posted on arXiv 12 Mar 2024.

## Builds on (most cited first, 13 of 13)

- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [High Speed and High Dynamic Range Video with an Event Camera](https://mlsanity.com/paper/1906.07165/) (2019)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimation](https://mlsanity.com/paper/1804.01306/) (2018)
- [Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios](https://mlsanity.com/paper/1709.06310/) (2017)
- [Event-Based Fusion for Motion Deblurring with Cross-modal Attention](https://mlsanity.com/paper/2112.00167/) (2021)
- [Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction](https://mlsanity.com/paper/2102.09320/) (2021)
- [Learning Monocular Dense Depth from Events](https://mlsanity.com/paper/2010.08350/) (2020)
- [ESL: Event-based Structured Light](https://mlsanity.com/paper/2111.15510/) (2021)
- [Event-Based Structured Light for Depth Reconstruction using Frequency Tagged Light Patterns](https://mlsanity.com/paper/1811.10771/) (2018)
- [Temporal-Mapping Photography for Event Cameras](https://mlsanity.com/paper/2403.06443/) (2024)
- [Improving Fast Auto-Focus with Event Polarity](https://mlsanity.com/paper/2303.08611/) (2023)
- [X-maps: Direct Depth Lookup for Event-based Structured Light Systems](https://mlsanity.com/paper/2402.10061/) (2024)

## Built on by (most cited first, 5 of 5)

- [NTIRE 2025 Challenge on Event-Based Image Deblurring: Methods and Results](https://mlsanity.com/paper/2504.12401/) (2025)
- [Low-Light Image Enhancement using Event-Based Illumination Estimation](https://mlsanity.com/paper/2504.09379/) (2025)
- [EvDiff: Event-Based Video Reconstruction using One-Step Diffusion Models](https://mlsanity.com/paper/2511.17492/) (2025)
- [E-RGB-D: Real-Time Event-Based Perception with Structured Light](https://mlsanity.com/paper/2512.18429/) (2025)
- [Text-to-Image Generation for Projector-Camera System Registration](https://mlsanity.com/paper/2607.03046/) (2026)

## Abstract (arXiv)

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 a Digital Light Processing (DLP) projector, enabling depth estimation through high-speed projection and decoding of Gray code patterns. By employing Gray code for point matching in event-based SL system, our method is immune to timestamp noise, realizing high-speed depth estimation without loss of accuracy and spatial resolution. 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 and spatial resolution. Our proposed approach offers a highly promising solution for ultra-fast, real-time, and high-precision dense depth estimation.