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Pixel-Level Alignment Method of Color Image to Depth Image for Color Depth Camera

A depth image and color image technology, applied in the field of color image to depth image alignment, to improve the efficiency of information fusion

Active Publication Date: 2017-08-25
SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Currently there are only alignment methods from depth images to color images

Method used

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  • Pixel-Level Alignment Method of Color Image to Depth Image for Color Depth Camera
  • Pixel-Level Alignment Method of Color Image to Depth Image for Color Depth Camera

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Embodiment Construction

[0057] The specific implementation method of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] 1) Determine the offset between the infrared image and the depth image. First, collect any scene image, and perform binarization on the infrared image and the depth image. Then the target object in the scene is segmented from the infrared image and the depth image respectively. Next, by comparing the shapes of the target object segmented from the infrared image and the depth image, the offset between the infrared image and the depth image is determined so that the two shapes can achieve the best alignment effect. According to the experimental results, this fixed offset is [u 0 ,v 0 ] = [3,3] (pixels).

[0059] 2) Calibrate the internal parameters of the infrared camera and the color camera respectively. In order to improve the fusion accuracy of the depth image and the color image, the internal p...

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Abstract

The invention discloses a pixel-level alignment algorithm for color images to depth images of a color depth camera. The pixel-level alignment algorithm comprises the steps of 1) determining an offset between an infrared image and a depth image, 2) calibrating the internal parameters of an infrared camera and a color camera, respectively, 3) calibrating relative postures between the infrared camera and the color camera, 4) calibrating the parameters of a depth camera model, 5) starting from one pixel point of the color image, finding out corresponding pixel points on the depth image by use of the internal and external parameters of an infrared image and a color image, thereby determining the depth of the pixel points of the color image. According to the pixel-level alignment algorithm, the corresponding depth information is directly obtained from the color image, the alignment of the color information to the depth information can be realized, a fusion image of a larger size can be obtained, and the information is richer.

Description

technical field [0001] The alignment method from the color image to the depth image involved in the present invention specifically refers to a method based on epipolar constraints, starting from the pixel points on the color image of the color depth camera (Kinect), to find the corresponding pixel points on the depth image method. Background technique [0002] The imaging system combining infrared camera and color camera has been more and more applied to smart home, somatosensory games, 3D reconstruction, robot autonomous navigation and other fields. In order to give full play to the advantages of multi-sensor fusion, the first problem is how to better realize the fusion of different sensor information. Color Depth Camera (Kinect) is a typical imaging system combining an infrared camera and a color camera, and it has the characteristics of low price and good practical effect. It mainly consists of infrared transmitter, infrared camera and color camera. Moreover, the infra...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T2207/10024G06T2207/10028G06T2207/10048G06T2207/20221
Inventor 邹武合张雷戴宁
Owner SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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