Monocular structured light depth recovery method, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the field of image processing, and discloses a monocular structured light depth recovery method, electronic equipment and a storage medium. The method comprises the following steps: acquiring an object speckle image and a reference speckle image of a target object as a monocular structure light image; generating an image pyramid comprising N layers of pyramid images according to the monocular structured light image, wherein N is an integer greater than 1; processing the image pyramid in such a way of: acquiring a parallax image of the (i-1) th layer according to the parallax image of the ith layer and the pyramid image of the (i-1) th layer until the parallax image of the first layer serves as the target parallax image of the target object, wherein the initial value of i is N, and the parallax image of the Nth layer is acquired according to the pyramid image of the Nth layer; and determining depth information of the target object according to the target parallax image. By using the embodiment of the invention, the calculation amount of monocular structured light measurement depth information can be reduced, the calculation speed is improved, and the requirement on deployment equipment is reduced.

Description

technical field [0001] Embodiments of the present invention relate to the field of image processing, and in particular, to a monocular structured light depth restoration method, electronic equipment, and a storage medium. Background technique [0002] 3D cameras are widely used in measurement and detection because they have depth information and can measure the plane image of the target object, that is, the 3D camera can obtain information such as the three-dimensional position and size of the target object. A 3D camera usually includes a depth sensor and multiple cameras. The 3D camera can realize three-dimensional information collection, and the three-dimensional data can be converted into a point cloud. The 3D camera obtains the depth information, three-dimensional size and spatial information of environmental objects in real time, and provides technical support for scenarios such as motion capture, 3D modeling, indoor navigation and positioning, and has a wide range of c...

AI Technical Summary

Problems solved by technology

However, the amount of calculation in the speckle feature matching process is large and the calculation speed is slow, which leads to the slow speed of obtaining depth information

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