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

A depth calculation and structured light technology, applied in the computer field, can solve the problems of error and absolute accuracy highly dependent on the position accuracy of the reference surface, and achieve the effect of reducing error transmission and improving depth calculation accuracy.

Active Publication Date: 2019-03-01
合肥的卢深视科技有限公司
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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...

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

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[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0032] figure 2 For a schematic flow chart of a high-precision depth calculation method based on speckle structured light provided by an embodiment of the present invention, refer to figure 2 , the method provided by the embodiment of the present invention includes:

[0033] S1. Collect the image information of the calibration board on the ref...

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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...

Claims

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Application Information

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IPC IPC(8): G01B11/22G06T7/50G06T7/80
CPCG01B11/22G06T7/50G06T7/80
Inventor 户磊薛远化雪诚崔哲朱海涛
Owner 合肥的卢深视科技有限公司
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