Method for acquiring dynamic scene depth based on fringe structure light

Abstract

The invention discloses a method for acquiring the dynamic scene depth based on fringe structure light, which mainly solves a problem that the prior art is low in depth precision calculation and depth spatial resolution. The implementation comprises the steps of: designing a black and white fringe template P of De Bruijn sequence coding, projecting the black and white fringe template to a three-dimensional scene by using a projector, and recording a deformed fringe image U by using a camera; determining sequence numbers of black and white fringes in the deformed fringe image U by using the geometrical relationship between the projector and the camera and a De Bruijn sequence; solving the phase difference between the deformed fringe image U and the black and white fringe template P, and solving coordinates of corresponding matching points of pixel points in the deformed fringe image in the black and white fringe template P by using the sequence numbers of the black and white fringes and the phase difference; and solving the depth of each pixel point in the deformed fringe image U by using the coordinates of the matching points and a line-plane intersection geometrical relationship. The method disclosed by the invention has the advantages of low calculation complexity, high depth spatial resolution and high depth precision, and can be applied to precise three-dimensional reconstruction of dynamic scenes.

Description

technical field [0001] The invention belongs to the technical field of image processing, relates to the acquisition of dynamic scene depth, and can be used for three-dimensional reconstruction or target recognition. Background technique [0002] With the rapid development of information technology, the measurement of depth information of 3D objects is essential in many application fields, such as industrial automation, mobile robots, human-computer interaction and surgery. At present, three-dimensional measurement methods mainly include passive measurement method and active measurement method. [0003] Passive measurement methods include binocular stereo vision method, defocus method and shadow method. The main task of the binocular stereo vision method is to obtain the image parallax obtained by the two cameras, and then use the triangulation method to obtain the depth. This method has high requirements for the synchronization of the cameras, and is eliminated because the ...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art, and propose a dynamic scene depth acquisition method based on stripe structured light, so as to avoid color decoding errors and stripe boundary positioning without increasing equipment complexity and calculation complexity Inaccurate problems, improve spatial resolution, and obtain high-precision dynamic scene depth values

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