Method for obtaining depth of structured light dynamic scene on basis of random templates

Abstract

The invention discloses a method for obtaining the depth of a structured light dynamic scene on the basis of random templates. The method mainly solves the problems that the prior art is low in depth spatial resolution and depth precision. The method comprises the implementation steps of designing the random templates P, projecting the random templates P into a three-dimensional scene through a projector T, and recording deformed images U which are modulated through the scene by using a video camera C; averaging the random templates P and deformed image U sliding windows to obtain stripe-liked images Q and deformed stripe images B; solving the phase positions of pixels in the stripe-liked images Q and in the deformed stripe images B by using a Gabor filter; obtaining a rough matching result of the pixels in the deformed stripe images B and the pixels in the stripe-liked images Q through a phase relation; carrying out compensation on the rough matching result to obtain an ultimate accurate matching result; solving the depth of the corresponding scene by utilizing coordinates of matching points and a line and plane intersection geometrical relationship. The method for obtaining the depth of the structured light dynamic scene on the basis of the random template has the advantages of being high in depth spatial resolution and low in calculation complexity, and is capable of being applied to accurate three-dimensional reconstruction of the dynamic scene.

Description

Technical field [0001] The invention belongs to the technical field of computer image processing, relates to the acquisition of structured light dynamic scene depth, and can be used for three-dimensional reconstruction or target recognition. Background technique [0002] With the rapid development of science and technology and industrial production, in many fields, it is necessary to obtain three-dimensional information such as the shape or spatial position of an object. It has very important applications in many fields such as human-computer interaction, robot depth perception, quality inspection, reverse engineering, digital modeling and so on. At present, three-dimensional measurement methods mainly include passive measurement method and active measurement method. [0003] The passive ranging method does not need to add a controllable light source to the scene, and only the light source in the environment provides illumination. It can be roughly divided into stereo vision meth...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to address the shortcomings of the above-mentioned prior art, and propose a method for acquiring the depth of a dynamic scene with structured light based on random templates, so as to avoid color decoding errors and matching points without increasing equipment complexity and computational complexity. Fix the problem of inaccurate positioning and obtain high-precision dynamic scene depth values

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