Three-dimensional measuring system, photographing device, photographing method, depth calculation method and depth calculation device

Abstract

The invention provides a three-dimensional measuring system, a photographing device, a photographing method, a depth calculation method and a depth calculation device. The photographing device comprises a projection device, a first imaging unit and a second imaging unit, wherein the projection device is used for projecting discrete beams to a photographing area, the discrete beams are modulated to form a plurality of discrete spots in the photographing area, and the discrete spots can be recognized by other discrete spots in a peripheral preset space range; the first imaging unit is used for photographing the photographing area to acquire a first two-dimensional image; the second imaging unit and the first imaging unit have a predetermined relative position relation, and the second imaging unit is used for photographing the photographing area to acquire a second two-dimensional image. Therefore, under the situation of not being subjected to the influence of the ambient light and the background, the spatial depth information of a detected object can be accurately acquired. For example, when the detected object is arranged in an environment with a single background or in an environment with similar background textures, the spatial depth information of the detected object still can be accurately obtained.

Description

technical field [0001] The invention relates to the field of image measurement and processing, in particular to a three-dimensional measurement system, a photographing device and method, and a depth calculation method and device. Background technique [0002] Three-dimensional information can also be called depth information or depth of field information. The traditional image capture method can only obtain the two-dimensional information of the object, but cannot obtain the spatial depth information of the object. However, in fact, the spatial depth information of the object surface is very important in various industrial, daily life and entertainment applications, especially the real-time acquisition of depth information. [0003] A three-dimensional measurement system is an accurate measurement system for drawing three-dimensional dimensions of objects. At present, the three-dimensional measurement technology is mostly assisted by laser. For example, the spatial depth v...

AI Technical Summary

Problems solved by technology

[0005] Since the binocular visual recognition technology is based on the picture captured by one camera as the main picture, by looking for the same feature point that matches the main picture on the picture captured by another camera, the depth information is obtained through parallax calculation, so when the device When placed in an environment with a single background, such as the surface of a solid-color object, the three-dimensional information of the surface cannot be correctly obtained due to the lack of texture features for left and right cameras for image matching; at the same time, when the device is placed in an environment with self-similar background textures, such as A wall with a large number of the same grid textures has the same grid size and the same arrangement direction. Since the textures are highly similar everywhere, it is difficult to accurately match the left and right perspective images, making it difficult to accurately obtain the distance information between the system and the background

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