A number of techniques have been developed for range sensing in an image with panchromatic or colored illumination patterns. The desired goals are accuracy, robustness, and low acquisition time. This report deals with the use of color illumination to lower the acquisition time while maintaining the desired levels of accuracy and robustness.

The key theoretical development is a better method of identifying the original (projected) colors of a reflected ray even if it has undergone reflective color change. The mathematical model also allows the optimal choice of a set of colors to project. Experimental results indicate a significant speedup over a competing technique (Gray code).