Monocular structured light depth sensing method and device based on RGBIR camera

A technology of depth perception and RGB images, which is applied in the fields of human-computer interaction, integrated circuits, and computer vision, can solve difficult problems such as the correspondence between RGB image pixels and depth images or 3D point clouds, so as to reduce assembly accuracy, facilitate reading and The effect of storing and protecting the edge

Active Publication Date: 2019-06-14
XI AN JIAOTONG UNIV
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Problems solved by technology

However, due to the influence of assembly accuracy, calibration accuracy and use process, it is often difficult to realize the one-to-one correspondence between the RGB image pixels at different distances and the depth image or 3D point cloud

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  • Monocular structured light depth sensing method and device based on RGBIR camera
  • Monocular structured light depth sensing method and device based on RGBIR camera
  • Monocular structured light depth sensing method and device based on RGBIR camera

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Embodiment Construction

[0024] Attached below figure 1 -6 The present invention is further described in detail.

[0025] figure 1 It is a structural frame diagram of a monocular structured light depth perception device based on an RGBIR camera. The depth perception device includes an RGBIR image generation module, an RGBIR image acquisition module, an RGBIR image separation module, an RGBIR image processing module, and a selection output module.

[0026] The RGBIR image generation module uses an infrared laser speckle code projector to project an infrared speckle image or an infrared flood light source to irradiate an infrared image, and uses an RGBIR camera to project a visible light RGB image.

[0027] The RGBIR image acquisition module uses a single RGBIR camera to collect the infrared speckle image projected by the infrared laser speckle code projector or the infrared image irradiated by the infrared flood light source together with the visible light RGB image to obtain RGBIR RAW data. The RGBI...

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Abstract

The invention provides a monocular structured light depth sensing method and device based on an RGBIR camera. The method comprises: using an infrared laser speckle coding projector to project an infrared speckle image, or the infrared floodlight source is utilized to irradiate an infrared image; using the RGBIR camera for collecting RGBIR RAW data according to frames and separating the RGBIR RAW data; carrying out image signal processing on the separated RGB image; performing depth perception decoding on the infrared speckle image to obtain a depth value or 3D point cloud; performing infraredimage enhancement processing on the infrared image; finally, a depth map, an RGB image, an infrared image, RGBD combined data or XYZRGB point cloud data can be selectively output. The structure of thedevice is compact, various image information including a depth image, an RGB image, an infrared image or point cloud information can be obtained, and the XYZRGB point cloud data in one-to-one correspondence can be obtained without RGBD registration.

Description

technical field [0001] The invention belongs to the technical fields of computer vision, human-computer interaction and integrated circuits, and in particular relates to a monocular structured light depth perception method and device based on an RGBIR camera. Background technique [0002] The current virtual world is infinitely close to the real world, and human-computer interaction technology will become a "bridge" connecting virtual and reality. With the continuous improvement of computer performance, people are constantly exploring simpler and more convenient ways to communicate with machines. Among them, the visual sense is the most direct and important means for human observation, understanding and experience. [0003] The depth perception technology based on structured light active vision can obtain more accurate depth information, and is not affected by ambient light, and the algorithm and hardware implementation are relatively simple. However, in the current struct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N9/04H04N5/361H04N9/73G06T5/00G06T3/60
Inventor 葛晨阳邓作为侯晓琦
Owner XI AN JIAOTONG UNIV
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