Structured light coding method and related device

Abstract

The invention discloses a structured light coding method and a related device. The structured light coding method includes the first step of generating a first coding pattern through a pseudo-random code, wherein coding elements in the first coding pattern are distinguished through at least color graphs in four colors and at least one geometric graph, the second step of projecting the first coding pattern onto the surface of a measured object, the third step of obtaining a second coding pattern formed after the first coding pattern and the surface of the measured object are overlapped, the fourth step of determining a feature point set on the second coding pattern, the fifth step of determining the corresponding position of each feature point in the feature point set in the first coding pattern, and the sixth step of calculating the depth of each feature point in the feature point set in the second coding pattern according to the position of each feature point in the feature point set in the first coding pattern and finally determining three-dimensional contour information of the measured object. Through the technical scheme of the method, on the premise that the coding density is ensured, the success rate of decoding is effectively increased.

Description

technical field [0001] The invention relates to the technical field of computer image processing, in particular to a structured light coding method and a related device. Background technique [0002] Structured light coding technology is an active and reliable 3D reconstruction technology, which has been widely used in many fields. [0003] The existing structured light coding mostly adopts the spatial coding method. Spatial coding can realize three-dimensional reconstruction of object surface by projecting a structured light image, so it is suitable for three-dimensional information acquisition of dynamic targets and scenes. However, spatial coding has window characteristics, that is, there is a contradiction between the coding density (that is, the density of encoded feature points per unit area) and the size of the coding window (usually one coding window contains one coding codeword). On the one hand, the coding density requires coding The larger the window, the better...

AI Technical Summary

Problems solved by technology

[0004] An existing spatial coding scheme uses color for coding, so it is also called color structured light coding. In order to improve the coding density, there are currently two solutions: the first is to use more color features, which can achieve more A small encoding window increases the encoding density at the same time. However, when too many colors are used, the difficulty of decoding will increase significantly. For example, the color of the measured object is more likely to be confused with the color used for encoding; the second is to use a larger encoding This method reduces the possibility of confusion between the color of the measured object and the color used for encoding, but due to the expansion of the encoding window, the number of encoding elements that need to be judged increases significantly, thereby reducing the decoding time. Success rate

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