Depth image acquisition method and device and monocular speckle structured light system

A technology of structured light system and acquisition method, which is applied in the field of monocular speckle structured light system, and can solve problems such as inability to accurately determine parallax, inability to determine parallax, inability to achieve effective and accurate acquisition of depth images, etc.

Active Publication Date: 2021-06-08
北京的卢深视科技有限公司 +1
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] However, for structured light with a complex shape on the surface to be photographed, if there is a large drop in the depth direction, or when the normal direction of the surface to be photo

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  • Depth image acquisition method and device and monocular speckle structured light system
  • Depth image acquisition method and device and monocular speckle structured light system
  • Depth image acquisition method and device and monocular speckle structured light system

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Embodiment Construction

[0032] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0033] Please refer to figure 1 , is a schematic structural diagram of a monocular speckle structured light system 100 provided in an embodiment of the present application. The monocular speckle structured light system 100 includes a speckle projector 110 , a camera 120 and an image processing device 130 . Wherein, the image processing device 130 is communicatively connected with the camera 120 and the speckle projector 110 respectively. The speckle projector 110 is used to project speckle on the object to be photographed, and the camera 120 is used to collect the image of the object to be photographed with the speckle projected, that is, the speckle image. The speckle projector 110 can project speckle on the object to be photographed based on the control instruction of the image processing device ...

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Abstract

The invention provides a depth image acquisition method and device, and a monocular speckle structured light system. The depth image acquisition method is applied to an image processing device in a monocular speckle structured light system, the monocular speckle structured light system further comprises a speckle projector and a camera, the speckle projector is used for projecting speckles on a shot object, and the camera is used for collecting a speckle image of the shot object. The acquisition method comprises the following steps: acquiring a scene speckle image currently acquired by the camera; determining parallax of each pixel point of the scene speckle image based on a pre-stored reference speckle image and a preset deformation function; using the deformation function for describing deformation of the scene speckle image relative to the reference speckle image; and determining a depth image corresponding to the scene speckle image based on the parallax of each pixel point of the scene speckle image. The method is used for realizing effective and accurate acquisition of the depth image.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular, to a depth image acquisition method and device, and a monocular speckle structured light system. Background technique [0002] In the monocular speckle structured light system, a speckle image with a known position is pre-stored as a reference image. In practical applications, the speckle image of any scene is matched with the reference image to obtain the parallax. A corresponding depth image may be acquired based on the disparity. [0003] However, for structured light with a complex shape on the surface to be photographed, if there is a large drop in the depth direction, or when the normal direction of the surface to be photographed is close to the direction of the optical axis, the parallax cannot be accurately determined, or the parallax cannot be determined. Efficient and accurate acquisition of depth images is achieved. Contents of the invention [000...

Claims

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Application Information

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IPC IPC(8): G06T7/521
CPCG06T7/521G06T2207/10028
Inventor 薛远户磊王亚运李绪琴季栋
Owner 北京的卢深视科技有限公司
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