Depth estimation method and device based on near-infrared laser speckles

Abstract

The invention relates to the technical field of image depth calculation, in particular to a depth estimation method and device based on near-infrared laser speckles. According to the depth estimation method based on the near-infrared laser speckles, through preprocessing conducted on a target speckle image, influences of ambient illumination are eliminated from the target speckle image, and therefore accuracy of depth estimation is improved. Through the fact that speckles are described by the utilization of binary system characteristics, huge difference of brightness and the contrast ratio between the target speckle image and a reference speckle image is effectively offset. Through quick information spread, the depth estimation can be conducted in high efficiency, and meanwhile, due to the fact that parallax error information of an area provided with fewer speckles in the target speckle image is added, the result of the depth estimation can be more comprehensive and more accurate.

Description

technical field [0001] The present invention relates to the technical field of image depth calculation, in particular to a depth estimation method and device based on near-infrared laser speckle. Background technique [0002] Recovering depth information from images is a fundamental problem in the field of computer vision, which has received more and more attention and made great progress in recent years. Depth sensors are increasingly used in various fields such as autonomous driving, shape measurement in industrial production, biomedical imaging, computer scene understanding, and entertainment equipment. Depending on whether controlled lighting is used, depth calculation systems in the prior art can be classified into passive depth estimation systems and active depth estimation systems. [0003] The passive depth estimation system adopts the theory of binocular stereo vision; two parallel cameras are used to shoot scene images at the same time, and the parallax value is o...

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Problems solved by technology

[0006] In the prior art, the depth estimation method based on near-infrared laser speckle usually does not consider the influence of ambient light on the accuracy of depth estimation, resulting in errors in the results of depth estimation; and, since the reference speckle image is pre-stored, its brightness There is a huge difference between the contrast and the scene image collected in real time, and the existing active depth estimation method based on laser speckle does not fully consider its influence; at the same time, for the area with less speckle distribution, such as the boundary part, the depth estimation is often not enough Accurate, so the obtained depth estimation results may be one-sided

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