A realization method of multi-rgbd depth sensor automatic calibration desktop props interactive system

Abstract

The invention relates to an interactive system for automatically calibrating desktop props with multiple RGBD depth sensors, which relates to the technical field of interactive projection recognition, and consists of multiple RGBD depth sensors, multiple projectors, a computer host, a rectangular desktop and props of different shapes. The color image automatic calibration algorithm based on Gray code structured light and the coordinate mapping relationship between the depth image and the color image are used to realize the interactive position calibration of multiple RGBD depth sensors; after collecting the depth environment background image between multiple RGBD depth sensors and the desktop, calculate The difference image between the real-time depth image and the depth environment background image is used to locate the coordinates of props with different shapes on the desktop in the fusion depth image and the coordinates of the projected desktop; compare the recognition data of props with different shapes on the desktop with the data in the prop information database to determine all the props Finally, the prop type and desktop coordinates are sent to the interactive projection effect software through the OSC communication protocol to enhance the interactive projection effect.

Description

Technical field: [0001] The invention relates to the technical field of interactive projection recognition, in particular to an implementation method of an automatic calibration tabletop prop interactive system with multiple RGBD depth sensors. Background technique: [0002] OpenCV (Open Source Computer Vision Library) is a cross-platform computer vision library based on BSD license (open source), which implements many common algorithms in image processing and computer vision, including morphological transformation, thresholding, contour search and Gray code Structured light and other algorithms. Among them, the binary Gray code is an unweighted code. The single-step self-complement of its reflection characteristics and cyclic characteristics eliminates the possibility of major errors when randomly fetching numbers. It belongs to a coding method of reliability coding and error minimization. Measurement technology has a wide range of applications. [0003] The RGBD depth se...

AI Technical Summary

Problems solved by technology

[0005] In the existing technology, when a single RGBD depth sensor is used for interactive recognition, due to the small viewing angle of the depth recognition range, it is impossible to cover a large area of ​​interactive projection space

At the same time, when using depth images to manually calibrate props and projection positions, there are problems such as complicated calibration and debugging and certain deviations in output positions, which affect the experience of interactive effects

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