Omnidirectional Stereo Vision Camera Configuration System and Camera Configuration Method

Abstract

The present invention provides an omnidirectional stereo vision camera configuration system and a camera configuration method. The camera configuration system mainly includes: at least four main camera lenses, which are respectively arranged on four reference lines that can form a rectangle; at least four sub-camera lenses. Each main camera lens and each sub-camera lens can be arranged at intervals on the same plane along the four reference lines to form a rectangle. The key of the present invention is that the optical axes of each sub-camera lens or each main camera lens are configured to be rotatable in two parts, so that the optical axes of the camera lenses arranged on the same reference line are parallel to each other, and the optical axes of the camera lenses arranged on the same reference line are all perpendicular to the reference line to complete camera calibration. Therefore, at least two depth maps corresponding to each reference line can eliminate the occlusion area after performing image fusion calculation, and then an unoccluded omnidirectional depth map can be obtained through image stitching.

Description

Technical Field

[0001] The present invention relates to stereo vision technology, and particularly to a camera configuration system and a camera configuration method for omnidirectional stereo vision, which can arrange multiple camera lenses at intervals in a rectangle, and configure the centers of at least three camera lenses to be corrected on the same reference line, so as to obtain an unobstructed depth map, and further obtain an omnidirectional depth map after image stitching is completed. Background Art

[0002] In binocular vision, it is necessary to calibrate and correct the camera. The purpose of camera rectification is to achieve an ideal binocular camera system, so that the optical axes of at least two cameras are completely parallel (that is, there is only an X component between the centers of the lenses), and perpendicular to the baseline (the line connecting the centers of the lenses of the left and right cameras is the baseline), so as to continue depth calculation and three-dimensional reconstruction.

[0003] Generally speaking, before rectification, the centers of the lenses (optical centers) of the left and right cameras are not parallel. After rectification, the optical axes of the left and right cameras in the ideal binocular system are parallel to each other, the optical axes are perpendicular to the image plane, and the imaging points have the same height on the left and right images. Accordingly, when performing stereo matching subsequently, it is only necessary to search for matching points of the left and right images in the search range of the same column, which can greatly improve the camera rectification efficiency.

[0004] At present, although some people have proposed that a stereoscopic camera can be used to obtain omnidirectional depth information. For example, as disclosed in the Taiwan, China invention patent No. TW201832547, "Image device, related method and related image device for generating panoramic depth images" (hereinafter referred to as the Taiwan, China case), the Taiwan, China case mainly arranges four ultra-wide-angle fish-eye lenses (>190 degrees) in pairs back-to-back and vertically, and projects the extracted wide-angle images onto an equirectangular coordinate system. The left and right fish-eye lenses on the same side can be used to calculate a 180 x 180-degree stereo depth image. Finally, the depth images on both sides are stitched together to obtain a 360 x 180-degree omnidirectional depth image. However, in this equirectangular projection method of projecting wide-angle images onto the equirectangular coordinates, the image resolution is quite poor near 180 degrees (because the use of fish-eye lenses will cause lens distortion), and at the same time, there will also be an occlusion problem caused by the use of stereoscopic vision technology, and the occlusion problem will directly affect the accuracy of depth estimation.

[0005] Although another inventor has proposed that N cameras can be arranged in a regular N-sided polygon, and depth images are generated by pairs of cameras, and finally panoramic stitching is completed to obtain an omnidirectional depth image, that is, as disclosed in the US invention patent No. US 10244226 B2, "Camera rig and stereoscopic image capture" (hereinafter referred to as the US case). However, although this method can generate depth images with higher resolution, the positions of the cameras arranged in the US case cannot handle the aforementioned occlusion problem, resulting in defects in the generated depth images.

[0006] As mentioned above, in order to obtain a de-occlusion depth map in the field of binocular vision, the calibration of a multi-lens (at least three) camera is necessary, and please refer to " Figure 1", assuming that the baseline b12 and b13 shown in the figure are respectively the connecting lines of the optical centers O of the first and second cameras before correction in the US case, and the first and third cameras before correction in the US case, and the baseline b12' and b13' are the connecting lines of the optical centers O of the first camera and the second camera, and the first camera and the third camera after correction. During correction, the baseline b13 can be used as the reference line. Therefore, for the first and third cameras, only by rotation can the X-axis be parallel to the vector of the baseline b13. As for the second camera, although it can also make the X-axis parallel to the vector of the baseline b12 through the offset matrix T (also called the translation matrix), since the second camera deviates too far from the X-axis, the y and z components of the offset matrix T are relatively large. When the y and z components reach a certain level (for example, if it is higher than 1 mm), it will cause too large an error in the subsequent calculation of the depth map, thereby affecting the accuracy of the subsequent conversion of the camera coordinates to the world coordinates. And even if there are other methods (such as adjusting the focal length of the second camera) to make the position of the optical center of the second camera approach the X-axis (the ideal position), the effect is still limited, and at that time, a considerable amount of computing power will also be increased when calculating the depth map. On the contrary, since the optical centers of the first to third cameras in the US case are not arranged on the same baseline (especially the second camera deviates too far from the X-axis), before the XYZ information (camera coordinates) of the objects in the scene captured by the second camera can be obtained, the unoccluded disparity map cannot be calculated.

[0007] Accordingly, how to propose a camera configuration system and a camera configuration method for omnidirectional stereo vision that can obtain an unoccluded disparity map without using a fish-eye lens is a problem to be solved. Summary of the Invention

[0008] To achieve the above object, the present invention provides an omnidirectional stereo vision camera configuration system and a camera configuration method. The camera configuration system mainly includes: a main camera group, an auxiliary camera group, and an operation unit. Among them, the main camera group can include at least four main camera lenses, and each main camera lens can be respectively arranged on four reference lines that can form a rectangle. The auxiliary camera group can include at least four auxiliary camera lenses, and each main camera lens and each auxiliary camera lens can be arranged at intervals along the four reference lines in the same plane to form a rectangle. The operation unit can be respectively connected to each main camera lens and each auxiliary camera lens for information connection. The optical axis of each auxiliary camera lens or each main camera lens is configured to be rotatable, so that the optical axes of the auxiliary camera lenses and the main camera lenses arranged on the reference lines are parallel to each other, and the optical axes of the auxiliary camera lenses and the main camera lenses arranged on the reference lines are perpendicular to the corresponding reference lines to complete camera calibration. For the camera lenses located on the same reference line and completed camera calibration, the multiple images extracted by them can be used by the operation unit to calculate at least two depth maps. After the operation unit performs image fusion calculation on each depth map, the occlusion areas between the depth maps can be eliminated to generate an unoccluded depth map. Finally, the operation unit can perform image stitching on each unoccluded depth map calculated for each reference line to obtain an omnidirectional depth map.

[0009] Therefore, after the present invention is implemented, compared with the existing method of obtaining an omnidirectional depth map, the present invention can at least achieve the beneficial effect of obtaining an unoccluded omnidirectional depth. Moreover, even if the number of cameras used is more than four, these cameras can still maintain a rectangular arrangement without being arranged as a polygon to increase the configuration cost of the camera system.

[0010] In order to enable your review committee to clearly understand the purpose, technical features and effects after implementation of the present invention, the following description is accompanied by illustrations for your reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of conventional well-known camera calibration.

[0012] Figure 2 The architecture diagram of the camera configuration system of the present invention.

[0013] Figure 3 It is the camera configuration flow chart of the present invention.

[0014] Figure 4 It is the schematic diagram of the implementation of the present invention (I).

[0015] Figure 5 It is the schematic diagram of the implementation of the present invention (II).

[0016] Figure 6 It is the schematic diagram of the implementation of the present invention (III).

[0017] Figure 7 This is another embodiment (1) of the present invention.

[0018] Figure 8 This is another embodiment (2) of the present invention. Detailed implementation manners

[0019] Please refer to " Figure 2 ", which is the architecture diagram of the camera configuration system of the present invention. The present invention provides a camera configuration system 10 for omnidirectional stereo vision, including a main camera group 101, an auxiliary camera group 102, and an operation unit 103, where:

[0020] (1) The main camera group 101 includes at least four main camera lenses (1011-1014), and each main camera lens (1011-1014) can be respectively arranged on four reference lines (base line) that can form a rectangle;

[0021] (2) The auxiliary camera group 102 includes at least four auxiliary camera lenses (1021-1024), and each main camera lens (1011-1014) and each auxiliary camera lens (1021-1024) are configured to be arranged at intervals along the four reference lines in the same plane to form a rectangle;

[0022] (3) The operation unit 103 is respectively connected to each main camera lens (1011-1014) and each auxiliary camera lens (1021-1024) for information connection. Among them, the operation unit 103 can at least have a processor (not shown in the figure, such as a CPU, MCU), which is used to run the operation unit 103 and has functions such as logical operation, temporarily storing operation results, saving the position of execution instructions, and performing image processing;

[0023] (4) The optical axes of each auxiliary camera lens (1021-1024) or each main camera lens (1011-1014) can be configured to be rotatable, so that the optical axes of the auxiliary camera lenses (1021-1024) and the main camera lenses (1011-1014) arranged on the reference lines are parallel to each other, and the optical axes of the auxiliary camera lenses (1021-1024) and the main camera lenses (1011-1014) arranged on the reference lines are perpendicular to the corresponding reference lines, so as to complete camera calibration for both the main camera group 101 and the auxiliary camera group 102;

[0024] (5) These camera lenses (1011 - 1014, 1021 - 1024) that are located on the same reference line and have completed camera calibration, the images extracted by them can be used by the operation unit 103 to calculate at least two depth maps (depth map, also known as disparity map), and after the operation unit 103 performs image fusion calculation (fusion) on each depth map, the occluded areas between each depth map can be eliminated, and a non-occluded depth map is generated;

[0025] (6) The operation unit 103 can perform an image stitching on each non-occluded depth map calculated for each reference line to obtain an omnidirectional depth map;

[0026] (7) Continuing from the above, in a preferred embodiment of the present invention, each sub-camera lens (1021 - 1024) of the auxiliary camera group 102, or the main camera lens (1011 - 1014) of the main camera group 101, can be configured to rotate a specific angle to the left or right with the lens optical axis as the reference, and for the main camera group 101 and the auxiliary camera group 102 located on the same reference line, their lens optical axes can be respectively oriented in the same direction or different directions before the camera calibration is completed;

[0027] (8) Continuing from the above, in a preferred embodiment of the present invention, it further includes an inertial sensor 104 (IMU) coupled to the operation unit 103, which is used to transmit motion information and attitude information of multiple degrees of freedom (DOF) to more accurately track how the object being photographed and the shooting scene move in the real world. Among them, the degrees of freedom can be classified into two types, for example: translation and rotation. Translation can include the X-axis (front / back), Y-axis (left / right), Z-axis (up / down), and rotation can include pitch, roll, and yaw, but it is not limited to these degrees of freedom.

[0028] Please refer to " Figure 3 ", which is the camera configuration flowchart of the present invention, and please refer to " Figure 2 ", " Figure 4 " - " Figure 6 " in conjunction. The present invention proposes a camera configuration method S for omnidirectional stereo vision, including:

[0029] (1) Configure a camera group on the reference line (step S10): As shown in " Figure 4As shown in 「」, at least four main camera lenses (1011 - 1014) of a main camera group 101 are arranged on four reference lines (L1 - L4) that can form a rectangle, and at least four secondary camera lenses (1021 - 1024) of a secondary camera group 102 are respectively arranged on each reference line (L1 - L4), so that each main camera lens (1011 - 1014) and each secondary camera lens (1021 - 1024) are arranged at intervals in the same plane along the four reference lines (L1 - L4) to form a rectangle;

[0030] (2) Camera calibration (step S20): Rotate at least one secondary camera lens (1021 - 1024) of the secondary camera group 102, or rotate the optical axes of the main camera lenses (1011 - 1014) of the main camera group 101, so that the optical axes of the main camera lenses (1011 - 1014) and the secondary camera lenses (1021 - 1024) arranged on the reference lines (L1 - L4) are parallel to each other, and the optical axes of the main camera lenses (1011 - 1014) and the secondary camera lenses (1021 - 1024) arranged on the reference lines (L1 - L4) are perpendicular to the corresponding reference lines (L1 - L4), so as to complete camera calibration. Among them, these camera lenses (1011 - 1014, 1021 - 1024) can be configured to rotate a specific angle to the left or right in two parts respectively based on the optical axis, that is, as shown in 「Figure 4」, and please refer to 「 Figure 2 」. In the figure, the main camera lens 1011 located on the reference line L1 can rotate θ degrees to the left or right based on its optical axis. For the secondary camera lenses (1021, 1022) located on the left and right sides of the main camera lens 1011, since their centers of the lenses are arranged on the same reference line L1 as that of the main camera lens 1011, the optical axes of the secondary camera lenses (1021, 1022) can be rotated θ degrees, so that the y and z components (Ty, Tz) of the camera lenses (1011, 1021, 1022) located on the same reference line L1 in the offset matrix T approach 0, and the center coordinates of the camera lenses (1011, 1021, 1022) form zero rotation with each other, while only retaining the offset in the X-axis direction (Tx);

[0031] (3) Continuing from the above, similarly, the main camera lens 1012 located on the reference line L2 can rotate Φ degrees to the left or right with its optical axis as the reference. For the sub - camera lenses (1022, 1023) located on the left and right sides of the main camera lens 1012, since their lens centers are arranged on the same reference line L2 as that of the main camera lens 1012, the optical axes of the sub - camera lenses (1022, 1023) can be rotated by Φ degrees so that the y and z components (Ty, Tz) of the camera lenses (1012, 1022, 1023) located on the same reference line L2 in the offset matrix T approach 0, making the lens center coordinates of the camera lenses (1012, 1022, 1023) form zero rotation with respect to each other and only retaining the offset amount (Tx) in the X - axis direction. As for the camera calibration methods for the reference lines L3 and L4, the optical axes of the camera lenses can be rotated by the rotation angles φ and Ω respectively, which are similar to the methods for the reference lines L1 and L2. By analogy, this will not be elaborated here. Among them, 2θ + 2Φ+2φ + 2Ω can be ≥ 360°;

[0032] (4) Continuing from the above, since the positions of the camera lenses (1011~1014, 1022~1024) are not changed when the present invention executes step S20, the light received by the cameras of the main camera group 101 and the auxiliary camera group 102 is the same. Accordingly, the direction faced by the optical axis of the lens can be successfully simulated by rotating the lens center;

[0033] (5) Generating depth information (step S30): The images extracted by the main camera group 101 and the auxiliary camera group 102 that are set on the same reference line and have completed camera calibration (such as the captured images shown by " Figure 5 ", and this schematic diagram is only for example and is not limited to the number of these images) are provided to an arithmetic unit 103 to calculate at least two depth maps at different angles. After each depth map is subjected to an image fusion calculation by the arithmetic unit 103, the occluded areas between the depth maps can be eliminated, and a non - occluded depth map is generated. Please refer to " Figure 6 " for reference. The left - hand depth map in the figure is the depth map DL generated by the arithmetic unit 103 based on the images extracted by the main camera lens 101 and the sub - camera lens 1021 located on the reference line L1, and the middle depth map is the depth map DR generated by the arithmetic unit 103 based on the images extracted by the main camera lens 101 and the sub - camera lens 1022 located on the reference line L1. Partial occluded areas can be found in both the depth map DL and the depth map DR in the figure, and the right - hand depth map D is the non - occluded depth map generated by performing an image fusion calculation on the depth map DL and the depth map DR;

[0034] (6) Generating an omnidirectional depth map (step S40): The arithmetic unit 103 performs an image stitching on the non - occluded depth maps calculated for each reference line to obtain an omnidirectional depth map.

[0035] Please refer to " Figure 7 ", which is another embodiment (I) of the present invention, and please refer to " Figure 2 " in conjunction. This embodiment is similar to the technology of " Figure 2 " to " Figure 6 ". The main difference is that, since without relying on the projected active light source, the quality of 3D information is related to the texture degree of the objects in the image. For example, blankets and newspapers are objects rich in texture, while white papers and single-color walls are objects without texture. In addition, in the case of insufficient light sources, such as at night or in a room without lights on, it will also affect the quality of 3D information. Accordingly, the omnidirectional stereo vision camera configuration system 10 of this embodiment may further include a diffractive optical element 105 (Diffractive Optical Element, DOE) coupled to the arithmetic unit 103, and the diffractive optical element 105 can be respectively mounted on each main camera lens (1011-1024) of the main camera group 101. The diffractive optical element 105 is mainly used to project light spots on the surface of the object to assist in judging the three-dimensional depth of the object to be photographed and the shooting scene. That is, when step S30 is executed, if the ambient light source is insufficient or the texture characteristics of the object to be photographed are not obvious, the diffractive optical element 105 coupled to the arithmetic unit 103 can project light spots on the surface of the object to give the object to be photographed texture and light source, so as to generate the required pattern at a specific position or space to assist in judging the three-dimensional depth of the object to be photographed and the shooting scene.

[0036] Please refer to " Figure 8 ", which is another embodiment (II) of the present invention, and please refer to " Figure 2 " in conjunction. This embodiment is similar to the technology of " Figure 2 " to " Figure 7」 is similar in technology. The main difference is that the omnidirectional stereo vision camera configuration system 10 of this embodiment further includes a Lidar module 106 coupled to the operation unit 103. It is used to calculate the depth information of the object being photographed and the shooting scene by measuring the time interval of the transmitted and received pulse signals (such as pulsed laser). The format of the depth information can be, for example, Point Cloud (where the information can include horizontal angle, vertical angle, distance, intensity, line, id, timestamp (Laser Timestamp)). That is, when performing step S30, the operation unit 103 can measure the time interval of the transmitted and received pulse signals through the Lidar module 106 coupled to it to determine a Time of Flight (ToF), and then calculate the depth information of the object being photographed and the shooting scene. Moreover, before the Lidar module 106 transmits the depth information back to the operation unit 103, the operation unit 103 can first perform image segmentation on each depth map generated when performing step S30 and the images extracted by these camera lenses (1011 - 1014, 1021 - 1024). When the operation unit 103 obtains the omnidirectional depth map, it can generate more accurate depth information for the object being photographed or the shooting scene at a relatively long distance, so as to make up for the problem that the x and y information of the depth information transmitted back is not dense enough when only using the Lidar module 106 to detect the depth of the object being photographed or the shooting scene at a relatively long distance. Continuing from the above, the omnidirectional stereo vision camera configuration system 10 of this embodiment can also include a Radar module 107 coupled to the operation unit 103, which is used to receive the radio waves reflected by the objects existing in the space when step S30 is performed, so that the operation unit 103 can calculate the depth information of the object being photographed and the shooting scene. And the Radar module 107 can be, for example, a millimeter-wave radar (mmWave Rader). In other words, in this embodiment, by using the Lidar module 106 and the Radar module 107, it can solve the problem that when the omnidirectional stereo vision is achieved through these camera lenses (1011 - 1014, 1021 - 1024) of the present invention, the depth information of the object being photographed or the scene at a relatively long distance may not be accurate enough.

[0037] The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention; any equivalent changes and modifications made by those skilled in this art without departing from the spirit and scope of the present invention should be covered within the patent scope of the present invention.

[0038]

Symbol Explanation

[0039] O optical center b12 baseline

[0040] b12’ baseline

[0041] b13 baseline

[0042] b13’ baseline

[0043] 10 Omnidirectional Stereo Vision Camera Configuration System

[0044] 101 Main Camera Group 101 Main Camera Group

[0045] 1011 Main Photography Lens

[0046] 1012 Main Photography Lens

[0047] 1013 Main Photography Lens

[0048] 1014 Main Photography Lens

[0049] 102 Auxiliary Camera Group 1021 Sub-Photography Lens

[0050] 1022 Sub-Photography Lens

[0051] 1023 Sub-Photography Lens

[0052] 1024 Sub-Photography Lens

[0053] 103 Operation Unit

[0054] 104 Inertial Sensor

[0055] 105 Diffractive Optical Element

[0056] 106 LiDAR Module

[0057] 107 Radar Module

[0058] L1 to L4 Baselines

[0059] D Depth Map DL Depth Map

[0060] DR Depth Map

[0061] S Omnidirectional Stereo Vision Camera Configuration Method

[0062] S10 Configure Camera Groups on Baselines

[0063] S20 Calibrate Cameras

[0064] S30 Generate Depth Information

[0065] S40 Generate Omnidirectional Depth Map.

Claims

1. An omnidirectional stereo vision camera configuration system, comprising: A main camera group, including at least four main camera lenses, and each of the main camera lenses is respectively arranged on four reference lines that can form a rectangle; An auxiliary camera group, including at least four auxiliary camera lenses, and each of the main camera lenses and each of the auxiliary camera lenses are arranged at intervals along the four reference lines in the same plane to form the rectangle; An operation unit, which is respectively connected to each of the main camera lenses and each of the auxiliary camera lenses in an information connection; The optical axes of each of the auxiliary camera lenses or each of the main camera lenses are configured to be rotatable, so that the optical axes of the auxiliary camera lenses and the main camera lenses arranged on the reference lines are parallel to each other, and the optical axes of the auxiliary camera lenses and the main camera lenses arranged on the reference lines are all perpendicular to the corresponding reference lines to complete camera calibration; The main camera lens and the auxiliary camera lens located on the same reference line and having completed camera calibration, the multiple images extracted by them are used by the operation unit to calculate at least two depth maps, and the at least two depth maps are used by the operation unit to perform image fusion calculation to eliminate the occlusion areas between the depth maps, and generate an unoccluded depth map; and The operation unit performs an image stitching on each of the unoccluded depth maps calculated for each of the reference lines to obtain an omnidirectional depth map; It further includes a diffractive optical element coupled to the operation unit for projecting light points on the surface of an object to assist in judging the three-dimensional depth of the object to be photographed and the shooting scene; Each of the auxiliary camera lenses of the auxiliary camera group, or the main camera lenses of the main camera group, is configured to rotate left or right with the optical axis as the reference.

2. The omnidirectional stereo vision camera configuration system according to claim 1, further comprising a lidar module coupled to the operation unit for calculating the depth information of the object to be photographed and the shooting scene by measuring the time interval between the transmitted and received pulse signals.

3. The omnidirectional stereo vision camera configuration system according to claim 1, characterized in that, It further includes an inertial sensor coupled to the operation unit for transmitting motion information and attitude information of multiple degrees of freedom.

4. An omnidirectional stereo vision camera configuration method, comprising: A step of configuring a camera group on a reference line: arranging at least four main camera lenses of a main camera group on four reference lines that can form a rectangle, and arranging at least four auxiliary camera lenses of an auxiliary camera group on each of the reference lines respectively, so that each of the main camera lenses and each of the auxiliary camera lenses are arranged at intervals along the four reference lines in the same plane to form the rectangle; A step of calibrating a camera: rotating the optical axis of at least one of the auxiliary camera lenses of the auxiliary camera group, or rotating the optical axis of the main camera lenses of the main camera group, so that the optical axes of the main camera lenses and the auxiliary camera lenses arranged on the reference lines are parallel to each other, and the optical axes of the main camera lenses and the auxiliary camera lenses arranged on the reference lines are all perpendicular to the corresponding reference lines to complete camera calibration; A step of generating depth information: Images extracted by the main camera group and the auxiliary camera group that are set on the same reference line and have completed camera calibration are provided to an arithmetic unit to calculate at least two depth maps. After each depth map undergoes an image fusion calculation by the arithmetic unit, the occluded areas between the depth maps can be eliminated, and an unoccluded depth map is generated. And A step of generating an omnidirectional depth map: The arithmetic unit performs an image stitching on each of the unoccluded depth maps calculated for each reference line to obtain an omnidirectional depth map.

5. The omnidirectional stereo vision camera configuration method according to claim 4, characterized in that, Before the step of generating depth information is executed, when the light source is insufficient or the texture features of the object to be photographed are not obvious, a diffractive optical element coupled to the arithmetic unit projects light spots onto the object surface and provides texture and light source to the object to be photographed to assist in judging the three-dimensional depth of the object to be photographed and the shooting scene.

6. The method for configuring a camera for omnidirectional stereo vision according to claim 4, characterized in that When the step of generating depth information is executed, the arithmetic unit also determines a time of flight by measuring the time interval between the transmitted and received pulse signals through a lidar module coupled thereto, and then calculates the depth information of the object to be photographed and the shooting scene.

7. The omnidirectional stereo vision camera configuration method according to claim 6, characterized in that, When the step of generating depth information is executed, before the lidar module transmits depth information back to the arithmetic unit, the arithmetic unit first performs image segmentation on each depth map and the images extracted by the main camera lens and the sub-camera lens.

8. The method for configuring a camera for omnidirectional stereo vision according to claim 4, wherein When the step of generating depth information is executed, a radar module coupled to the arithmetic unit receives radio waves reflected by objects existing in space for the arithmetic unit to calculate the depth information of the object to be photographed and the shooting scene.

Images