Depth map real-time acquisition algorithm based on array camera

A real-time acquisition and camera technology, applied in the field of 3D depth information acquisition systems, can solve the problems of sudden depth change, low resolution, and broken 3D raw data, and achieve fast and simple effects.

Inactive Publication Date: 2009-10-14
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

This kind of sensor has been applied to a certain extent, but it also has the following shortcomings: the depth information is not accurate at the edge, sensitive to noise and object materials, not easy to be calibrated, and low resolution, etc.
They process every point in the high-resolution depth map, which ten

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  • Depth map real-time acquisition algorithm based on array camera
  • Depth map real-time acquisition algorithm based on array camera
  • Depth map real-time acquisition algorithm based on array camera

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Embodiment Construction

[0030] Below, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments.

[0031] The visible light camera used in this embodiment uses a CCD sensor, which can provide a color image or a grayscale image with a resolution of 768×576. The 3D camera used is a Swiss Ranger 3000 (TOF camera), which can provide a resolution of 176× 144 depth and grayscale images.

[0032] The specific calibration method of the camera array is as follows: first, down-sampling the grayscale image of each CCD camera to make its resolution 384×288, and upsampling the grayscale image of the TOF camera to make its resolution 352 ×288; Then, use the traditional flat-panel camera calibration method to calibrate each CCD camera and TOF camera (Zhang Zhengyou’s flat-panel camera calibration method), and obtain the parameters projected from the TOF camera to each CCD camera: translation matrix T = ...

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Abstract

The invention discloses a depth map real-time acquisition algorithm based on array camera; the camera array thereof comprises a 3D camera and a plurality of visible light cameras; the algorithm obtains the high-resolution depth maps on the viewports of each visible light camera according to a low-resolution depth map provided by the 3D camera. The algorithm comprises the steps of: at first, calibrating the camera array and projecting the depth map of the 3D camera in the field of view of each visible light camera to obtain an initial depth map in the field of view of the visible light cameras; and secondarily, using the new energy function which is defined in the algorithm and fused with color information and initial depth information and taking the color maps or grey-scale maps of the visible light cameras as references to iteratively correct the initial depth map so as to obtain the final high-resolution depth map. The algorithm is a method capable of obtaining the high-resolution depth map in the field of view of common cameras in real time and can meet the demands on multi-aspect application such as stereoscopic television, virtual reality and the like.

Description

technical field [0001] The invention relates to a three-dimensional depth information acquisition system, in particular to an array camera-based depth map acquisition algorithm. Background technique [0002] In recent years, the acquisition of 3D depth information has become a very popular research direction in the field of computer vision. Many institutions and experts at home and abroad have done a lot of related work and proposed some methods and technologies. However, these methods and technologies have their own shortcomings, and no method or technology can satisfy various applications, so there are still many challenges in the acquisition of depth information. [0003] Although the traditional stereo matching method based on the visible light camera array is perfect in theory, in practical application, because the exact matching point cannot be found, this method is helpless for non-textured planar areas and gradient surfaces. In addition, the traditional depth inform...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 于慧敏吴嘉周颖
Owner ZHEJIANG UNIV
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