Heterogeneous depth camera-based three-dimensional information obtaining method and apparatus

A technology of depth camera and three-dimensional information, applied in the field of three-dimensional information acquisition method and device based on heterogeneous depth camera, can solve the problems of poor operability, difficult to guarantee the accuracy of similar control sets, low image resolution and the like

Active Publication Date: 2017-05-31
周超艳
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Problems solved by technology

Both depth cameras have their own advantages and disadvantages: the TOF camera can generate a depth map in real time, and the depth information has high precision, and can support hardware triggering, but the image resolution is low
Its shortcoming is that ordinary color cameras are greatly

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  • Heterogeneous depth camera-based three-dimensional information obtaining method and apparatus
  • Heterogeneous depth camera-based three-dimensional information obtaining method and apparatus
  • Heterogeneous depth camera-based three-dimensional information obtaining method and apparatus

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Embodiment Construction

[0092] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0093] Such as Figure 1 ~ Figure 3 As shown, the three-dimensional information acquisition method based on the heterogeneous depth camera described in the present invention, under the condition that the resolution of the depth map of the Kinect camera is guaranteed to be constant, uses the accurate depth map obtained by the TOF camera to improve the reliability of the depth information of the Kinect camera , so as to obtain a high-resolution accurate depth map.

[0094] In the process of obtaining a high-resolution accurate depth map, in view of the problems of low registration speed caused by too many redundant control sets in the existing 3D point cloud global re...

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Abstract

The invention discloses a heterogeneous depth camera-based three-dimensional information obtaining method. The method comprises the following steps of shooting a picture; calculating internal parameters of a Kinect camera and a TOF camera; extracting reliable depth information according to the shot picture; fitting calibration board plane coordinates of the Kinect camera and the TOF camera according to the reliable depth information; recovering an actual three-dimensional coordinate set of corner points of the Kinect camera and the TOF camera under the fitted calibration board plane coordinates in combination with the internal parameters; calculating a least square conversion matrix between the Kinect camera and the TOF camera; performing coordinate conversion on the reliable depth information according to the least square conversion matrix to obtain depth fusion information; matching color information acquired by the Kinect camera with the depth fusion information; and performing point cloud registration on image information after matching based on a spatial distance between the points to obtain three-dimensional information. By adopting the method, a high-resolution accurate depth map fusing the color information can be quickly obtained, and then accurate three-dimensional information is obtained.

Description

technical field [0001] The invention belongs to the field of image processing and point cloud registration, and in particular relates to a method and device for acquiring three-dimensional information based on heterogeneous depth cameras. Background technique [0002] At present, there are two main ways to obtain the depth information of objects: the stereo matching method and the depth camera method to obtain the depth by calculating the disparity of image matching points. Among them, the widely used depth cameras mainly include Kinect cameras using structured light technology (referring to Microsoft’s Kinect XBOX360, the same below) and TOF cameras using Time of Flight (Time of Flight) technology (represented by Mesa’s SR4000). Both depth cameras have their own advantages and disadvantages: the TOF camera can generate a depth map in real time, and the depth information has high precision and can support hardware triggering, but the image resolution is low. For example, th...

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Application Information

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IPC IPC(8): G06T7/80G06T7/593
CPCG06T2207/10024G06T2207/10028
Inventor 周超艳
Owner 周超艳
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