Depth information acquiring device and method on basis of TOF technology and binocular vision

A technology of depth information and binocular vision, which is applied in the direction of measuring devices, electromagnetic wave reradiation, character and pattern recognition, etc., can solve the problems of increasing system structure complexity and system cost, long measurement time, high hardware requirements, etc., to reduce Unrecognizable and misidentified risks, reduced algorithm complexity and calculation time, good stability and reliability

Active Publication Date: 2017-05-31
HANGZHOU LANXIN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mainstream products currently on the market still have their own scope of use and limitations
For example, binocular stereo matching relies on complex algorithms, so the hardware requirements are high, the calculation time is long, and the target recognition effect is not good for unobvious features; the pulsed TOF depth measurement technology is very costly, and due to the limitation of the scanning method, there are high The contradiction between resolution and high refresh rate; the distance resolution and spatial resolution of phase method TOF depth measurement

Method used

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  • Depth information acquiring device and method on basis of TOF technology and binocular vision
  • Depth information acquiring device and method on basis of TOF technology and binocular vision
  • Depth information acquiring device and method on basis of TOF technology and binocular vision

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Embodiment

[0028] like figure 1 As shown, a depth information acquisition device combining TOF technology and binocular vision includes an active light source emitting device 1, a TOF sensor 2, a left image sensor 3, a right image sensor 4, a controller 5 and a processor 6; figure 2 As shown, the active light source emitting device 1 includes a light source 7, a spatial modulation device 8 and an imaging system 9 arranged in sequence; the active light source emitting device 1 and the light source 7 are connected to the controller 5, the TOF sensor 2, the left image sensor 3 and the The right image sensors 4 are all connected to the processor 6;

[0029] In this embodiment, the left image sensor 3 and the right image sensor 4 are symmetrically arranged on both sides of the TOF sensor 2, and the left and right image sensors and the TOF sensor 2 use a spectroscopic method to collect images and depth information under the same conditions. The reflectivity information obtained by the left a...

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Abstract

The invention discloses a depth information acquiring device and method on the basis of a TOF technology and binocular vision. The device comprises an active light source emitting device, a TOF sensor, left and right image sensors, a controller and a processor, wherein the active light source emitting device comprises a light source, a space modulation device and an imaging system which are arranged successively; the active light source emitting device and the TOF sensor are connected with the controller; and the TOF sensor, the left image sensor and the right image sensor are connected with the processor. The active light source emitting device generates time and space modulated light illuminating scene, the TOF sensor acquires a time modulation signal to obtain depth information of the scene, and the left and right image sensors acquire a space modulation signal to obtain image information of the scene. Feather matching to the image of the scene is carried out according to the depth information which adds constraint condition so as to obtain a high-resolution depth image. High-resolution rapid depth information is acquired in indoor and outdoor environment at low cost, and the depth information acquiring device and method on the basis of the TOF technology and the binocular vision are suitable for short distance and long distance.

Description

technical field [0001] The present invention relates to the technical fields of depth sensor, machine vision, three-dimensional reconstruction, binocular stereo vision and TOF, in particular to a depth information acquisition device and method combining TOF technology and binocular vision. Background technique [0002] In recent years, depth information has gained more and more applications in sensors. The technologies for obtaining depth information mainly include binocular stereo matching, TOF (Time of Flight, time of flight), monocular structured light and other technologies. These technologies can add additional depth information to the sensor, and have a wide range of applications in image recognition and processing, scene understanding, VR, AR, and robotics. However, the mainstream products currently on the market still have their own scope of use and limitations. For example, binocular stereo matching relies on complex algorithms, so the hardware requirements are hi...

Claims

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Application Information

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IPC IPC(8): G01S17/89G01S17/02G06K9/62
CPCG01S17/89G01S17/86G06V10/751
Inventor 杨静时岭高勇
Owner HANGZHOU LANXIN TECH CO LTD
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