Real time three dimensional imaging system based on laser light and visual sense

Abstract

The invention relates to a real time three dimensional imaging system based on laser light and visual sense. The real time three dimensional imaging system consists of three major parts that are a visual sense processing subsystem, a control subsystem and a machinery mechanism. Object images are obtained by a camera and are then processed by a visual sense processing computer, three dimensional position information in image coordinates can be obtained and sent to a common storage area, and a control computer obtains the three dimensional position information from the common storage area and performs coordinate conversion and real-time programming. Information of measured depth is fed back to the visual sense computer to obtain the three dimensional position information of an object. The system has the advantages of high distance precision, high activity, real-time performance, high speed, low cost, simple technology and the like.

Description

[technical field] [0001] This patent relates to the fields of computer vision, three-dimensional imaging and somatosensory interaction, and is used to quickly and accurately obtain three-dimensional position information of objects. [technical background] [0002] At present, the use of binocular stereo vision is the main means to obtain the three-dimensional position information of the target. The commonly used method is to obtain a stereo image pair synchronously by two cameras, and then calculate the depth information of each point in the public field of view of the image according to the principle of stereo vision, generate a depth map, and then extract the depth information corresponding to the target to determine the target’s depth. Three-dimensional position information. But these devices have the following problems: [0003] 1. Low long-distance accuracy: The binocular and multi-day stereo vision previously studied have relatively high accuracy (above 1 mm) when meas...

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Problems solved by technology

[0004] 2. Poor initiative: When the spatial three-dimensional scene is projected into a two-dimensional image in the camera, the images of the same scene at different viewpoints will be very different, and many factors in the scene, such as lighting conditions, scene geometry and physical characteristics , noise interference and distortion, and camera characteristics are all integrated into a single image gray value

[0005] 3. The amount of calculation is large, and the real-time performance is poor. Stereo vision requires the ability to solve each corresponding point in a pair of stereo images. The rich information contained in the images makes the speed of point-by-point correspondence matching very slow, and it is easy to cause "sick" calculation problems

Although in order to solve this problem, certain constraints are added under the regularization framework to transform the problem into the optimal solution of multiple conditional functions, but the difficulty and amount of calculation are greatly increased, making it difficult to improve the speed of visual processing and unable to meet real-time performance. requirements, limiting the field of application

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