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Depth acquisition method for complex scene

A technology for complex scenes and acquisition methods, which is applied to complex scenes with large depth differences between multiple objects to be measured. In the field of depth acquisition of complex scenes, it can solve the problems of inaccurate depth data in complex scenes, and achieve good robustness, The effect of large speckle size and improved robustness

Inactive Publication Date: 2015-09-09
BEIJING UNIV OF TECH
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Problems solved by technology

[0005] The problem solved by the technology of the present invention is: to overcome the inaccuracy of existing single-density acquisition of complex scene depth data and other technical deficiencies, and to provide a new depth acquisition method for complex scenes, which can ensure that the data accuracy of the acquired scene depth image is improved. , to further improve the robustness

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Embodiment Construction

[0015] The depth acquisition method of this complex scene mainly includes the following steps:

[0016] (1) The optimal speckle density pattern is related to the actual depth of the target to be measured, and formula (3) is used to design structured light pattern patterns of different densities corresponding to different actual depths: P 0 ,P 1 ,...,P M ;

[0017] k(r)=round{[sin(2πr / T)+1]*α+1} (3)

[0018] Where r represents the row order, k(r) represents the password of each row, α is a scalar factor that controls k(r) to be an integer in the range of 1, 2...N, and T is the number of rows.

[0019] (2) Project M laser speckle patterns P with different densities generated in step (1) 0 ,P 1 ,...,P M , correspondingly get M modulated images I of the object to be measured 0 , I 1 ,...,I M , using formula (1) to generate P t :

[0020] (3) According to the speckle structured light corresponding to the local depth distance corresponding to the optimal projection densit...

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Abstract

The present invention discloses a depth acquisition method for a complex scene, and the depth acquisition method can improve the depth image acquisition precision and further improve the robustness. The depth acquisition method for the complex scene comprises the following steps of: (a) designing and coding multi-password structured light patterns according to a signal-to-noise ratio of a speckle image and a relationship between the depth precision and the speckle density, projecting the multi-password structured light patterns onto a to-be-measured object through light-emitting equipment respectively, and generating a projected mixed multi-password structured light pattern; (b) generating a multi-density mixed reference image, and shooting and recording a modulated image of the projected coded structured light pattern of the to-be-measured object by using a camera having a certain angle with the light-emitting equipment; (c) rapidly matching the projected structured light pattern with the shot and modulated image, and further obtaining the offset of a corresponding matching point before and after projection; and (d) calculating the depth value of the matching point according to the offset and acquiring the depth data of the to-be-measured object.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to a depth acquisition method of complex scenes, which is mainly applicable to complex scenes with large depth differences among multiple objects to be measured. Background technique [0002] The depth acquisition method based on Structured Light Illumination (SLI) is a non-contact and active method, which is widely used in various scene depth acquisition because of its simple principle, high precision and high robustness. However, due to the limitation of the optical device itself, the reflection of the object to be measured, the complex structure and texture, etc., this method has the problem that the depth acquisition speed and accuracy cannot match, and it is difficult to meet the requirements at the same time. To solve this problem, researchers have proposed many encoding methods. According to different coding methods and projection methods, it can be divi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10028G06T7/521
Inventor 孙艳丰巫乾军孔德慧王少帆尹宝才
Owner BEIJING UNIV OF TECH
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