Method and device for detecting edge in active stereoscopic image
An image middle and edge technology, applied in image analysis, image enhancement, image communication, etc., can solve problems such as edge intensity reduction, pixel resolution specification, low pattern density, etc.
Pending Publication Date: 2022-07-26
银牛有限公司
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To name a few, edge intensity decreases with increasing distance from the camera setup, and most edges included in images retrieved when applying a device configured to emit structured light belong to projected patterns rather than edges of objects , the pattern density is too low to specify object boundaries at pixel resolution
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[0066] In this disclosure, the term "comprising" is intended to have an open-ended meaning, such that when a first element is stated to include a second element, the first element may also include one or more other elements, not necessarily in the are identified or described herein, or recited in the claims.
[0067] In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a better understanding of the present invention by way of example. It should be apparent, however, that the present invention may be practiced without these specific details.
[0068] Known patterns are usually projected onto the scene by structured light sensors or active stereo sensors. As present on a sensor camera, the deformation of these known patterns as the pattern strikes the surface allows the vision system to calculate depth and surface information for objects present in the scene, for example, as used in structured light 3D scanne...
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The invention provides a method and a device for generating a three-dimensional depth map. The method comprises the steps of: (i) illuminating a target by a pattern projector having a background intensity or by a combination of a floodlight projector and a pattern projector not having a background intensity that operate together; (ii) capturing at least one image comprising one or more objects present at the illuminated target; (iii) converting the at least one captured image into data; (iv) processing data received from the conversion of the at least one captured image while filtering out the projection pattern from the processed data; (v) detecting an edge of at least one of the one or more objects present at the irradiated target; and (vi) generating a three-dimensional depth map comprising at least one of the one or more objects whose edges have been determined.
Description
technical field [0001] The present disclosure relates generally to methods of using optical devices, and more particularly, to the processing of images of scenes illuminated by pattern projectors. Background technique [0002] A stereo camera device is an element composed of two camera units and assembled in a stereo module. Stereoscopic vision (also referred to as "stereoscopic vision" or "3D imaging") is a technique for determining image depth with the aid of stereoscopic images. In other words, the depth impression that a person with normal binocular vision perceives when viewing a scene with both eyes, which results in the creation of two slightly different images of the scene in both eyes due to the different positions of the eyes / cameras. [0003] Active stereo vision is a form of stereo vision that actively employs light emitting devices such as laser diodes or devices configured to emit structured light (eg, patterned light) in order to simplify the problem of stere...
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IPC IPC(8): G06T7/194G06T7/13G06V10/44
CPCG06T7/194G06T7/13G06T2207/20028G06T2207/10012G06T7/521G06T7/593H04N13/254H04N13/239H04N13/271G01B11/2513G01B11/2545G06T5/20H04N13/207G06T2207/20192G06T5/77
Inventor A·埃克尔N·什穆埃利
Owner 银牛有限公司