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A monocular depth estimation method based on electro-hydraulic adjustable focus lens and corresponding camera and storage medium

A depth estimation and electro-hydraulic technology, applied in the field of computer vision, can solve the problems of complex monocular camera structure, high initial cost, high price, etc., and achieve the effect of simple and practical establishment process, low cost, and simple method and algorithm

Active Publication Date: 2022-08-09
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are three main ways to obtain depth information: direct measurement with infrared or radar cameras, inferring the depth of objects based on binocular parallax, and depth estimation methods based on monocular cameras; The equipment directly measured by the camera is usually large in size, expensive and energy-consuming; the method of inferring the depth of an object based on binocular parallax is more complicated than that of a monocular camera, and the estimated depth range is limited by the distance between the two cameras. The baseline length between them; the depth estimation method based on the monocular camera is mainly realized by deep neural network, and the deep neural network needs to design a complex network structure, and requires a lot of data and time to train the neural network, and the upfront cost is very high

Method used

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  • A monocular depth estimation method based on electro-hydraulic adjustable focus lens and corresponding camera and storage medium
  • A monocular depth estimation method based on electro-hydraulic adjustable focus lens and corresponding camera and storage medium
  • A monocular depth estimation method based on electro-hydraulic adjustable focus lens and corresponding camera and storage medium

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Experimental program
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Effect test

Embodiment 1

[0046] see figure 1 , a monocular depth estimation method based on electro-hydraulic adjustable focus lens, comprising the following steps:

[0047] S1: Use Zemax software to build the optical imaging system model of the electro-hydraulic adjustable focus lens, and set the radius, thickness, curvature, material and other information of the electro-hydraulic adjustable focus lens in Zemax software.

[0048] S2: Establish the functional relationship between the focal length of the electro-hydraulic adjustable focus lens and the imaging object distance. The specific establishment process is as follows:

[0049] A: see figure 2 , using the optical imaging system model modeled in step S1, the relationship between the control current and the focal length of the electro-hydraulic adjustable focus lens can be obtained:

[0050] f=αI+β (1)

[0051] Among them, f is the focal length, I is the control current, and α and β are the coefficients obtained by curve fitting;

[0052] B: s...

Embodiment 2

[0073] A method for estimating monocular depth based on electro-hydraulic adjustable focus lens, the only difference from Embodiment 1 is that in step S8, the sliding window slides with a step size λ as follows:

[0074] a: The pixel in the lower right corner of the center λ×λ pixel of the sliding window is used as the initial position pixel of the image. After the depth value estimation of the window is completed, the sliding window slides along the negative direction of the x-axis with the step size λ to continue the depth estimation until it reaches the leftmost border of the image;

[0075] b: The sliding window returns to the rightmost boundary of the pixel at the initial position of the image, slides once along the negative direction of the y-axis with the step size λ, and then continues to slide according to the above rule a; repeat a and b until all pixels of the image are completed. Depth estimation.

Embodiment 3

[0077] A camera, comprising an electro-hydraulic adjustable focus lens, the electro-hydraulic adjustable focus lens is connected with a control module, the control module is connected with a processor module and a storage module; one or more programs are stored on the storage module, and when one or more The program is executed by the processor module, so that one or more processors implement any step in the method for estimating monocular depth based on an electro-hydraulic adjustable focus lens described in Embodiment 1 or 2.

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Abstract

The invention belongs to the technical field of computer vision, and discloses a monocular depth estimation method based on an electro-hydraulic adjustable focus lens, comprising an electro-hydraulic adjustable focus lens and the following main steps: establishing an optical imaging system model of the electro-hydraulic adjustable focus lens , establish the functional relationship between the focal length of the electro-hydraulic adjustable focus lens and the imaging object distance, collect images at different focal lengths and record the corresponding focal lengths, register the collected images, use the gradient operator to preprocess the image, and use the clear The degree evaluation function obtains the focal length corresponding to the image where the sliding window with the largest sharpness is located, obtains the optimal imaging object distance and uses it as the depth estimation value of the spatial point corresponding to the center pixel of the sliding window, and calculates the depth estimation value of all pixels with the step size λ sliding window The invention solves the problems of low efficiency, complex algorithm and high cost of the prior art way of acquiring depth information.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a monocular depth estimation method based on an electro-hydraulic adjustable focus lens, a corresponding camera and a storage medium. Background technique [0002] Computer vision is a research field that enables computers to process and analyze acquired visual information by imitating the human visual system. The goal of computer vision research is to enable robots to effectively perceive object information in three-dimensional space like humans. , including the depth, color, etc. of the object, and then analyze and understand the information it perceives. Among them, depth information plays a very important role in the fields of automatic driving and 3D scene reconstruction. Therefore, it is particularly important to obtain depth information of 3D scenes. [0003] At present, there are three main ways to obtain depth information: direct measurement by infrared or radar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/50G06T7/00G06T7/33
CPCG06T7/50G06T7/0002G06T7/33G06T2207/10028G06T2207/30168
Inventor 李恒宇韩爽刘靖逸谢永浩岳涛谢少荣罗均
Owner SHANGHAI UNIV