Method for three-dimensional reconstruction of laser speckle structured light and depth information

Abstract

The invention provides a method for three-dimensional reconstruction of laser speckle structured light and depth information. The three-dimensional reconstruction technology is an important subject for machine vision research and refers to the content that a three-dimensional space geometrical shape of a three-dimensional body is restored through images of the three-dimensional body. Generally, three-dimensional reconstruction is conducted through the binocular parallax principle of a binocular camera or through a triangulation method or space codes are obtained through the structured light and the depth information is obtained through the triangulation method. The method aims at obtaining the depth information through the laser speckle structured light, a similar invention such as the kinect of the Microsoft Corporation also obtains the depth information (namely different depths are matched through a cross-correlation function of laser speckles) of an object through the method, and the difference is an algorithm for obtaining the depth information through the speckles. According to the method, parallel code number sorting is conducted on each pixel block one by one by a thinning window through multiple support vector machines, so that the depth of each pixel window is obtained, coordinates under a world coordinate system of the object are obtained by inversely solving a camera model through the depth information, and therefore the depth information with the higher accuracy can be obtained.

Description

technical field [0001] The invention belongs to the field of machine vision research, and is a three-dimensional reconstruction based on laser speckle structured light. Background technique [0002] Three-dimensional reconstruction technology is one of the important topics of machine vision research, which refers to the restoration of the three-dimensional geometric shape of three-dimensional objects through the image of three-dimensional objects. The general 3D reconstruction methods include triangulation through the binocular parallax principle of dual cameras, or spatial encoding through structured light, and depth information through triangulation. [0003] The present invention intends to use a laser speckle structured light to obtain depth information. Similar inventions such as Microsoft's kinect also use this method to obtain object depth information (matching different depths through the cross-correlation function of laser speckle) , the difference lies in the algo...

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Problems solved by technology

[0004] 3D reconstruction generally solves the world coordinates of the object point based on the calibrated camera through the known internal and external parameters of the calibration, and the solution process can only be a ray equation due to the limitation of the camera model and the solution equation group. , but the three world coordinates of the object point cannot be directly obtained through its equation

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