A Depth Information Acquisition System Based on Dual Structured Light RGB-D Camera

Abstract

The invention relates to a depth information acquisition system based on a dual structured light RGB-D camera, comprising: a dual structured light RGB-D camera structure: including two structured light RGB-D sub-cameras arranged symmetrically at 180 degrees; RGB-D Camera calibration module: used to realize the internal reference and distortion parameters of the structured light RGB-D camera and the external reference calibration between the color camera and the depth camera according to the asymmetrical calibration board; multi-source depth information acquisition module: obtain the two sub-cameras in an asynchronous manner Two original depth images, and the color images acquired by two cameras are used to form binoculars to generate the third depth image; multi-source depth information processing module: used to realize the alignment of the three depth images and the color image, and combine the three depth images Fusion is performed and the aligned color image and fused depth image are output as the final system. Compared with the prior art, the present invention has the advantages of parameter calibration, solving the lack of depth information holes, improving the quality of depth data, and high real-time performance.

Description

technical field [0001] The invention relates to the field of 3D vision, in particular to a depth information acquisition system based on a dual structured light RGB-D camera. Background technique [0002] In recent years, domestic research on 3D vision has become more and more popular. 3D cameras can obtain the distance from the camera to every point on the surface of the object, perceive the shape and outline of the object, and obtain richer information. The quality of depth information in RGB-D information has an important impact on the entire 3D vision system. [0003] The current mainstream 3D cameras can be divided into two types: one is the 3D vision sensor with high price and good depth data quality represented by laser sensor, such as SICK-about 300,000, Enshape-about 300,000, Ensenso-about 100,000, Their common feature is high precision, but slow and expensive, which is not suitable for large-scale promotion in the industrial field; the other is a series of consume...

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing methods of obtaining depth images are either expensive and have no potential for general application; or the quality of the obtained depth images is poor enough to meet the needs of some industrial applications, both of which limit 3D The wide application of vision is not conducive to the construction of 3D vision system

Images