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A structured light ranging method, device and computer-readable storage medium

A distance measuring method and technology of a distance measuring device, applied in the field of distance measurement, to achieve the effect of improving accuracy, accurate depth value, and removing the influence of ambient light

Active Publication Date: 2021-02-26
SHENZHEN ORBBEC CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the existing problems, the present invention provides a structured light ranging method, device and computer-readable storage medium

Method used

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  • A structured light ranging method, device and computer-readable storage medium
  • A structured light ranging method, device and computer-readable storage medium

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Embodiment Construction

[0015] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0016] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing and circuit communication.

[0017] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", ...

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Abstract

The present invention provides a structured light ranging method, device and computer-readable storage medium. The method includes: projecting structured light to the space to be measured with a preset projection frequency and collection frequency and collecting multiple frames of images. The multiple frames of images include at least the first An image and a second image, the first image includes ambient light information, the second image includes ambient light information and structured light information; the first grayscale value of the first image pixel is compared with the second grayscale value of the second image pixel Comparison; when the first grayscale value is greater than or equal to the second grayscale value, perform differential processing between the second image pixel and the first image pixel and obtain a difference value, and simultaneously use the difference value as the gray value of the current second image pixel Conversely, the second grayscale value is used as the grayscale value of the current second image pixel; and the depth information of the current second image is calculated. By comparing and analyzing the first image and the second image, the influence of ambient light is effectively removed, the precision of the structured light image is improved, and a more accurate depth value is measured.

Description

technical field [0001] The present invention relates to the technical field of distance measurement, in particular to a structured light distance measurement method, device and computer-readable storage medium. Background technique [0002] At present, in some scenarios such as car reversing monitoring or 3D reconstruction, multiple depth cameras (such as structured light depth cameras) are often used to capture images, and then the images captured by multiple cameras are spliced ​​to obtain a panoramic image. Specifically, image information including depth information and visible light collected by each of the at least two depth cameras is obtained; and a panoramic depth map is stitched according to the image information collected by each depth camera. [0003] However, the current structured light depth camera is also facing a major challenge. Since the intensity of the ambient light is equal to or even exceeds the intensity of the projected structured light image, it will...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C11/14G06T7/00G06T7/55
CPCG01C11/00G01C11/14G06T7/0002G06T2207/10028G06T7/55
Inventor 刘龙
Owner SHENZHEN ORBBEC CO LTD
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