Depth image obtaining method

A depth image and acquisition method technology, which is applied in image enhancement, image analysis, image data processing, etc., can solve the problems of holes in depth images, and achieve the effect of reducing holes, improving accuracy and field of view

Active Publication Date: 2017-11-28
MECH MIND ROBOTICS TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the active projection of the light source, when the depth camera shoots reflective objects such as metal, there will be obvious reflections, resulting in holes in the acquired depth image.

Method used

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Embodiment Construction

[0029] The present invention is described below based on examples, but the present invention is not limited to these examples. In the following detailed description of the invention, some specific details are set forth in detail. The present invention can be fully understood by those skilled in the art without the description of these detailed parts. In order not to obscure the essence of the present invention, well-known methods, procedures, procedures, components and circuits have not been described in detail.

[0030] Additionally, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

[0031] Unless the context clearly requires, throughout the specification and claims, "comprises", "comprises" and similar words should be interpreted in an inclusive sense rather than an exclusive or exhaustive meaning; that is, "including but not limited to" meaning.

[0032] In the descr...

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Abstract

The invention discloses a depth image obtaining method. The method comprises the steps of obtaining a conversion matrix from a second depth camera to a first depth camera through calibration calculation; and performing mapping and fusion on depth images through the conversion matrix to obtain a fused depth image. The depth image obtaining method is simple and reliable; the occurrence of holes in the depth images due to reflective objects can be reduced; and the precision and visual field range of the depth cameras can be improved.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a depth image acquisition method. Background technique [0002] With the continuous improvement of labor costs and the continuous improvement of automation equipment, the rate of using automation equipment instead of manual production is getting higher and higher. The initial automation equipment does not install any sensors, and can only perform some fixed actions in fixed scenes. As the application environment becomes more and more complex and changeable, it is necessary to install some sensors on the automation equipment so that the information of the object can be observed. A depth camera is a type of sensor that can observe the depth information of an object, so it can more accurately determine the position of the object in space. However, due to the active projection of the light source, when the depth camera shoots reflective objects such as metal, there will be obvious ref...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55G06T7/80
CPCG06T7/55G06T7/80G06T2207/20221
Inventor 张贶恩邵天兰魏海勇李玺
Owner MECH MIND ROBOTICS TECH LTD
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