Depth image acquisition method based on combination stereo matching and structured light

A technology of stereo matching and acquisition method, applied in the field of stereo vision

Active Publication Date: 2017-03-15
CHENGDU TOPPLUSVISION TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to propose a depth map acquisition method based on the combination of stereo matching and structured light to solve the problem of stereo matching in the case of weak texture areas of the image and insufficient exposure of the image

Method used

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  • Depth image acquisition method based on combination stereo matching and structured light
  • Depth image acquisition method based on combination stereo matching and structured light
  • Depth image acquisition method based on combination stereo matching and structured light

Examples

Experimental program
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Embodiment

[0092] This example illustrates the process of recovering the depth information of weakly textured areas by using the stereo matching method and the structured light measurement method respectively.

[0093] 1. Use the stereo matching method to restore the depth information of the weak texture area:

[0094] In this method, projected structured light is used to enhance texture information in weakly textured regions. Preferably, since a digital projector is used to project structured light in this example, only the projected image needs to be encoded; at the same time, a local algorithm is used for stereo matching in this example, and pseudo-random encoding has window uniqueness, so in this example, pseudo-random encoding is used. Encode the projected image in a random encoding manner. Coded structured light can be obtained after projecting coded images through a digital projector. The specific flow chart is attached figure 2 As shown, according to the principle of stereo m...

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Abstract

The invention, which relates to the stereoscopic vision field, discloses a depth image acquisition method based on combination stereo matching and structured light. With the method, a problem of stereo matching realization at an image weak texture region under insufficient image exposure can be solved. When external environmental light is sufficient and no weak texture region exists in a shooting scene, depth information of a three-dimensional scene is obtained by using an image shot under natural light directly; and when a little texture information is collected or the external environmental light is weak during the collection process, a coded structured light is projected actively, thereby enhancing the structured light intensity and object texture information. Because the structured light is processed by scene regulation while the scene texture information is enhanced, the scene depth information can be obtained by using a structured light measuring method directly. The depth image acquisition method is suitable for obtaining the object depth information accurately.

Description

technical field [0001] The invention relates to the field of stereo vision, in particular to a depth map acquisition method based on the combination of stereo matching and structured light. Background technique [0002] Stereo vision is a key problem in computer vision. The depth information obtained by it is widely used in the appearance design of industrial products, art sculpture, architecture, robot vision, UAV obstacle avoidance, medical plastic surgery and beauty, aerial surveying and mapping and military applications and other fields. Stereo matching is an important method to obtain depth information. This method obtains the disparity map by calculating the deviation of the spatial point in the two images, and then obtains the depth information of the object according to the disparity map. The parallax of each point of the object is obtained by finding matching point pairs in the left and right image planes, so image matching becomes the key to finally obtain the dep...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/521G06T7/593G06T7/80
CPCG06T2207/10012
Inventor 周剑袁寒余勤力唐荣富
Owner CHENGDU TOPPLUSVISION TECH CO LTD
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