Depth image texture and color recovery method and system

A deep image and color restoration technology, applied in the field of laser applications, can solve the problems of not being able to truly reflect image texture details and real colors, and achieve the effects of easy embedded system integration, simple optical path structure, and clear texture details

Pending Publication Date: 2021-08-20
西安西行者电子科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the currently displayed depth image information is limited by resolution

Method used

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  • Depth image texture and color recovery method and system
  • Depth image texture and color recovery method and system
  • Depth image texture and color recovery method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] see figure 1 , a depth image texture and color restoration method, comprising the following steps:

[0047] S1: Image calibration, determine the relationship between the visible light image and the depth information image, and generate a mapping relationship table;

[0048] S2: Use the ToF (Time of Flight) sensor to obtain distance information, and process and generate depth information in the processing system;

[0049] S3: Use the visible light sensor to acquire image information, and process and generate visible light images in the processing system;

[0050] S4: In the image fusion module, perform image fusion according to the mapping relationship table, and generate a depth information map with texture and real color;

[0051] S5: transmitting or displaying the depth information, the visible light image and the fused depth information image.

Embodiment 2

[0053] see Figures 1 to 5 ,

[0054] A depth image texture and color restoration method, comprising the following steps:

[0055] S1: Image calibration, determine the relationship between the visible light image and the depth information image, and generate a mapping relationship table;

[0056] S1-1: Using the parallel optical axis optical structure, determine the field angle of visible light and depth sensor;

[0057] S1-2: Acquire the coordinates of each pixel in the field of view of the visible light and depth sensors;

[0058] S1-3: Screen four suitable pixel coordinates of the visible light sensor and four suitable pixel coordinates of the depth sensor, and calculate the homography matrix between the four pairs of coordinates;

[0059] S1-4: Through the homography matrix, calculate the homography matrix between all visible light and depth sensor pixels.

[0060] S2: Use the ToF (Time of Flight) sensor to obtain distance information, and process and generate depth in...

Embodiment 3

[0074] refer to Figure 6 Figure 7 , a depth image texture and color restoration system, used to realize the weight depth image texture and color restoration method, the system includes an optical system and a hardware system, the optical system includes a TOF sensor and a visible light sensor; the hardware system Including depth sensor, visible light sensor, CPU / DSP / FPGA processing system, external interface.

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Abstract

The invention discloses a depth image texture and color recovery method and system, and the method comprises the steps: calibrating an image, determining the relation between a visible light image and a depth information image, and generating a mapping relation table; acquiring distance information by using a ToF (Time Flight) sensor and processing in a processing system to generate depth information; acquiring image information by using a visible light sensor, and processing the image information in a processing system to generate a visible light image; in the image fusion module, carrying out image fusion according to the mapping relation table, and generating a depth information graph with textures and real colors; and transmitting or displaying the depth information, the visible light image and the fused depth information image. The system comprises an optical system and a hardware system. The method has the advantages of simple light path structure, efficient and reliable image calibration method, clear 3D image texture details and the like.

Description

technical field [0001] The invention relates to laser application technology, in particular to a depth image texture and color restoration method and system. Background technique [0002] In recent years, depth information has been used more and more in sensors. Depth cameras based on TOF (Time of Flight) technology have gradually matured and have been applied in 3D ranging, industrial automation, VR and security. The basic principle of the 3DTOF camera is to obtain distance information by measuring the flight time of photons, and through operable software and algorithms, the distance information is converted into corresponding depth information and displayed. [0003] However, the currently displayed depth image information is limited by the resolution and measurement method, and cannot truly reflect the texture details and true colors of the image. Contents of the invention [0004] The object of the present invention is to provide a kind of depth image texture and colo...

Claims

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Application Information

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IPC IPC(8): G06T7/55H04N5/232G01S17/894
CPCG06T7/55G01S17/894G06T2207/10004G06T2207/10024G06T2207/10048G06T2207/10028H04N23/951H04N23/80
Inventor 王少熙
Owner 西安西行者电子科技有限公司
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