Large-view-field depth measuring system and method based on omni-directional structured light

A technology of depth measurement and structured light, applied in the field of measurement, can solve the problems of small field of view, inability to perceive the scene, and limit the application and development of technology

Active Publication Date: 2015-03-11
NORTHEASTERN UNIV
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Problems solved by technology

However, the current structured light technology generally obtains a small field of view. One shot can only obtain scattered information in th

Method used

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  • Large-view-field depth measuring system and method based on omni-directional structured light
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  • Large-view-field depth measuring system and method based on omni-directional structured light

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Embodiment

[0112] The scene depth measurement system based on omnidirectional structured light of this embodiment: the camera adopted is a Sony xcd-x710 industrial camera, and the hyperboloid reflector adopted is a hyperboloid reflector with a height of 28.85mm and a diameter of 45mm, and its focus distance from the hyperboloid The distance between the lowest point of the mirror is 4.67mm; the micro-projector used is a micro-projector with a standard resolution of 854×600, a maximum resolution of 1920×1080, a brightness of 320 lumens, a minimum projection size of 30 inches, and a maximum projection size of 180 inches. Due to the small size of the micro projector, the scene depth measurement system based on omnidirectional structured light in this embodiment has high scalability. The three-axis mobile platform of this embodiment controls its three-axis displacement through a stepping motor, and can perform precise displacement in the horizontal and vertical directions, and can realize micr...

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Abstract

The invention discloses a large-view-field depth measuring system and method based on omni-directional structured light. The system comprises a camera, a hyperboloid reflector, at least four projectors, a three-axis moving platform and a computer, wherein the projectors and the camera are respectively and fixedly arranged on the three-axis moving platform; the projectors are uniformly distributed around the camera; the three-axis moving platform can move along an x axis, a y axis and a z axis; coding structured light projected by the projectors irradiates a measured scene target object, is reflected by the hyperboloid reflector and then enters the camera for imaging; the formed image is acquired and processed by the computer to obtain scene depth information. By adoption of the hyperboloid reflector to reflect for imaging, the view field range of the camera is widened; by combining the large-view-field depth measurement with visual measurement of the structured light, visual three-dimensional perceived measurement of a wide view field is realized; the system is simple in structure and high in practicality; the measurement task can be finished by the camera and the projectors without perfect alignment; the calibration of the camera and the projectors is finished by adopting a plane white board; the simplicity in operation and higher calibration precision are realized.

Description

technical field [0001] The invention belongs to the technical field of measurement, and in particular relates to a large field of view depth measurement system and method based on omnidirectional structured light. Background technique [0002] Stereo vision is a key technology in the field of robot vision, that is, a method to obtain three-dimensional information of a target from two or more observation images of the same scene. The purpose of stereo vision is to establish a three-dimensional model of the observed scene based on the measured image information. Visual perception in psychology allows us to know that two-dimensional images themselves contain rich three-dimensional information, the most important of which is depth information, so depth perception and measurement are the research basis of stereo vision. It mainly studies how to use the machine vision system to simulate, extend and expand the human visual perception ability, so that the robot can effectively inte...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/00
CPCG01B11/25
Inventor 贾同王炳楠高海红孟海秀张浩吴景状
Owner NORTHEASTERN UNIV
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