Speckle structured light-based high-precision depth calculation method and system

Abstract

The embodiments of the invention provide a speckle structured light-based high-precision depth calculation method and system. The method includes the following steps that: the image information of acalibration plate on a reference plane is acquired, the coordinates of feature points of the image information in a camera coordinate system are calculated through a camera calibration algorithm; theplane equation of the reference plane in the camera coordinate system is calculated according to the coordinates of the feature points in the camera coordinate system; the speckle pattern of the reference plane is acquired, the parallax of speckles in the pattern is calculated according to the speckle pattern; and the depth of a target position point on the reference plane is calculated accordingto the plane equation in the camera coordinate system and the parallax of the speckles. According to the method provided by the embodiments of the invention, the precise pose of the reference plane iscalculated through the plane equation and the parallax of the speckles, and therefore, error transmission is fundamentally reduced, and depth calculation accuracy is greatly improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer technology, and in particular to a high-precision depth calculation method and system based on speckle structured light. Background technique [0002] Active speckle structured light depth sensing technology is a depth measurement technology based on spatially encoded structured light, which has a wide range of application requirements in the industrial, medical, and consumer electronics fields. The main idea is to project an optical pattern with a special structure onto a reference plane at a known position, and record the image of the reference plane at this time as a reference image through a camera, that is, the calibration process of the structured light system. After the calibration is completed, the pattern is projected to any scene, and the image of any scene is collected by the optical sensor, and matched with the known reference image to calculate the depth information of th...

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a high-precision depth calculation method and system based on speckle structured light to solve the problem that the absolute accuracy of the depth map output by the calculation method is highly dependent on the reference surface in the existing depth calculation process in the prior art Position accuracy

When the position accuracy of the reference surface is not enough, it will cause a large error in the depth measurement

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