High-quality three-dimensional color image acquisition method and device based on compound camera

Abstract

The invention discloses a high-quality three-dimensional color image acquisition method based on a composite video camera and an apparatus thereof. The apparatus comprises a two-dimensional video camera, a three-dimensional video camera, a main fixed plate, an expansion application interface board, and a three-dimensional camera fixed connection board. According the invention, imaging information on a same scene separately acquired by the three-dimensional video camera and the two-dimensional video camera at a same time are blended; A depth image of the three-dimensional video camera is interpolated to be an expected high resolution image; matching correlation of a high-quality two dimensional color image of the two-dimensional video camera and the interpolated depth image of the three-dimensional video camera is completed; real-time synchronized acquisition of high precision color images in the same scene and corresponding three-dimensional information is realized; meanwhile, advantages of high-quality color two-dimensional imaging of the two-dimensional video camera and the rapid three-dimensional information acquisition of the three-dimensional video camera are kept. The high-quality three-dimensional color image acquisition method based on a composite video camera and the apparatus thereof of the invention can be widely applied to fields such as industrial visual sense assembling, detection and robot visual sense navigation. The speed, accuracy, and reliability of three dimensional scene visual understanding and visual sense and identification can be raised.

Description

Technical field [0001] The invention relates to a method and device for acquiring high-quality three-dimensional color images based on a composite camera. Background technique [0002] At present, in the fields of intelligent navigation of mobile robots, unmanned vehicles, autonomous detection vehicles in extreme or dangerous environments, precision industrial production line processing and assembly, automatic welding, etc., image sensors such as cameras have become the basic configuration of related equipment or robots to obtain corresponding work Image information of scenes or artifacts to assist decision making. With the gradual increase in the demand for intelligence, in order to realize the fully automated and intelligent processing of robots or corresponding devices, not only high-precision and high-quality two-dimensional image information is required, but also high-precision and high-quality three-dimensional spatial information corresponding to the two-dimensional image ...

AI Technical Summary

Problems solved by technology

The 3D information obtained by the TOF 3D camera is of high quality and is not very dependent on the environment and light, such as figure 1 As shown in (b); while the grayscale image quality of TOF 3D cameras is relatively poor, causing a lot of loss of image details, and is easily polluted by noise, very sensitive to ambient light, and imaging is unstable

Therefore, it is difficult to directly use the grayscale image provided by the TOF 3D camera for subsequent scene analysis and target recognition processing

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