Depth camera based volumetric measurement method, apparatus and computer readable medium

Abstract

The application provides a volume measurement method and device based on a depth camera and a computer readable medium. The method comprises: collecting a first depth image of a reference platform, the first depth image comprising coordinate data and depth data of a plurality of pixels, the reference platform being suitable for placing a measured object; substituting the coordinate data and the depth data into at least two platform empirical equations to obtain at least two simulation images, each of the platform empirical equations being used to represent a height variation mode of the reference platform; calculating the correlation of each of the simulation images and the first depth image; taking the simulation image with the largest correlation as a target image of the reference platform; and obtaining a platform height of the reference platform according to the target image, the platform height being used to calculate the height of the measured object, and the height being used to calculate the volume of the measured object. The application can improve the accuracy of object volume measurement.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the technical field of object volume measurement, and in particular to a depth camera-based volume measurement method, device and computer readable medium. BACKGROUND

[0002] With the continuous development of automation technology, the measurement accuracy of object volume is increasingly required. Figure 1A is a schematic diagram of measuring the volume of an object using a depth camera. As shown in Figure 1A , an object 110 is placed on a measurement platform 120, and a depth camera 130 is located directly above the object 110 and the measurement platform 120, and there is a certain distance between the depth camera 130 and the object 110. As shown in Figure 1A , the depth camera 130 has a certain shooting range. During the measurement process, the depth camera 130 can simultaneously obtain the distance from the measurement platform 120 and the object 110 to the depth camera 130. Referring to Figure 1A , the distance between the depth camera 130 and the measurement platform 120 is h0. Since the object 110 is an irregular object, it has two heights, and the distance between the depth camera 130 and the object 110 is h1 and h2, respectively. This distance represents the plane distance between the plane S where the depth camera 130 is located and the plane where the photographed object is located. h0-h1 and h0-h2 represent the two heights of the object 110. According to the two heights and the surface area of the object 110, the volume of the object 110 can be obtained. Therefore, the accuracy of the obtained height of the object is very important for accurate volume measurement.

[0003] When there is no object placed on the measurement platform 120, the depth z value measured by the depth camera 130 represents the distance from the camera plane S to the plane where the measurement platform 120 is located. In the plane where the measurement platform 120 is infinitely extended, the depth value obtained by the depth camera 130 should be consistent. However, due to problems such as the double-camera installation size accuracy of the depth camera 130 itself and the relative position accuracy of the measurement system, the depth value is not consistent.

[0004] Figure 1B is a top view corresponding to Figure 1A . As shown in Figure 1BAs shown, in the field of view 131 of the depth camera 130, the object 110 almost covers most of the area of the measuring platform 120, and a part of the bottom surface extends out of the measuring platform 120. In some cases, due to installation space and other problems, the surface area of the measuring platform 120 can be smaller than the bottom area of the object 110. At present, the height of the middle point of the measuring platform 120 is generally used as the reference height to calculate the actual height of the object 110, but actually, the height of the middle point cannot represent the height of all points on the measuring platform 120, especially for the part of the object 110 extending out of the measuring platform 120, the height measurement result can not be accurate, thereby leading to inaccurate volume measurement result of the object 110. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a depth camera-based volume measurement method, device and computer readable medium capable of accurately measuring the height of an object.

[0006] To solve the above technical problem, the present application provides a depth camera-based volume measurement method, characterized in that it comprises: collecting a first depth image of a reference platform, the first depth image comprising coordinate data and depth data of a plurality of pixel points, the reference platform being suitable for placing a measured object; substituting the coordinate data and the depth data into at least two platform empirical equations to obtain at least two simulation images, each of the platform empirical equations being used to represent a height variation mode of the reference platform; calculating the correlation of each of the simulation images and the first depth image; taking the simulation image with the largest correlation as the target image of the reference platform; and obtaining the platform height of the reference platform according to the target image, the platform height being used to calculate the height of the measured object, and the height being used to calculate the volume of the measured object.

[0007] In an embodiment of the present application, the reference platform has a first size, and the first depth image has a second size, the second size being smaller than the first size.

[0008] In an embodiment of the present application, after obtaining the target image, it further comprises: making the target size of the target image greater than or equal to a third size of the measured object, wherein the third size is greater than the first size of the reference platform.

[0009] In an embodiment of the present application, the size of the simulation image is the same as the size of the first depth image.

[0010] In an embodiment of the present application, the step of substituting the coordinate data and the depth data into the at least two table experience equations to obtain at least two simulation images comprises: substituting the coordinate data and the depth data into each of the table experience equations to obtain an experience coefficient of each of the table experience equations; and generating a corresponding simulation image according to the table experience equation with the experience coefficient.

[0011] In an embodiment of the present application, the table experience equation comprises a first table experience equation for expressing a first height variation pattern of the reference table, according to which a distance between a center point of the reference table and a camera plane of the depth camera is greater than a distance between a non-center point of the reference table and the camera plane of the depth camera.

[0012] In an embodiment of the present application, the first table experience equation is shown in the following formula:

[0013]

[0014] wherein x represents a horizontal coordinate of a pixel point in the first depth image, y represents a vertical coordinate of the pixel point in the first depth image, Z(x, y) represents depth data of the pixel point with coordinates (x, y), and k1 and b1 are first experience coefficients.

[0015] In an embodiment of the present application, the table experience equation comprises a second table experience equation for expressing a second height variation pattern of the reference table, according to which a plane on which the reference table is located and a camera plane of the depth camera have an included angle.

[0016] In an embodiment of the present application, the second table experience equation is shown in the following formula:

[0017] Z(x, y) = b2 + k2 x + k3 y

[0018] wherein x represents a horizontal coordinate of a pixel point in the first depth image, y represents a vertical coordinate of the pixel point in the first depth image, Z(x, y) represents depth data of the pixel point with coordinates (x, y), and k2, k3 and b2 are second experience coefficients.

[0019] In an embodiment of the present application, the included angle is an acute angle.

[0020] The present application further provides a volume measuring device based on a depth camera, comprising: a memory for storing instructions executable by a processor; and the processor for executing the instructions to implement the method as described above.

[0021] The present application also proposes a computer readable medium storing computer program codes, which, when executed by a processor, implement the method as described above.

[0022] The present application simulates the depth image of the reference table surface by using at least two table surface empirical equations, selects the simulated image with the maximum similarity as the target image of the reference table surface, obtains the table surface height of the reference table surface from the target image, the table surface height is closest to the actual height of the reference table surface, calculates the height of the measured object according to the table surface height, and the accuracy of the object volume measurement can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute apart of this application, illustrate embodiments of the present application, and together with the description serve to explain the principles of the present application. In the drawings:

[0024] Figure 1A is a schematic diagram of measuring the volume of an object by using a depth camera;

[0025] Figure 1B is a top view corresponding to Figure 1A ;

[0026] Figure 2 is an exemplary flow chart of the volume measurement method based on the depth camera according to an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the obtained depth image in the volume measurement method according to an embodiment of the present application;

[0028] Figure 4 is a system block diagram of the volume measurement device based on the depth camera according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can also be applied to other similar scenarios without creative labor. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0030] As used in the description of the application and the claims that follow, "a," "an," "one," and / or "the" do not exclude plural referents unless modified by language expressly specifying the contrary. The mere use of the term "or" does not mean an exclusive "or" unless specifically stated. The phrase "consisting of, "consisting essentially of, and the like, as used herein, are defined to have the same meaning as the terms "comprising" and "including."

[0031] The relative arrangement of components and steps, numerical expressions, and numerical values set forth in the examples herein are not intended to limit the scope of the application unless specifically so stated. It is to be understood that the drawings are not necessarily to scale, and that a review of the entire disclosure, including the specification, drawings, and claims, will assist in fully understanding various aspects and features of the exemplary embodiments. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail, but are to be considered part of the disclosure, as appropriate, unless specifically stated otherwise. In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation on the scope of the exemplary embodiments. Thus, other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the attached drawings represent like parts throughout the several views, and thus, once a part has been defined in one drawing, it is not necessary to further discuss it in further detail in other drawings.

[0032] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, "back, "upper, "lower, "left, "right, "horizontal, "vertical, "vertical, "horizontal, "top, "bottom, and the like, are generally based on the orientation or positional relationships shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the present application. The orientation words "inner, "outer" refer to the inner and outer relative to the contour of the components themselves.

[0033] For purposes of the description hereinafter, spatially relative terms are used to describe the particular position and orientation, as the device appears in the figures, of the components illustrated. Such spatially relative terms are in fact intended to encompass different orientations of the device in use or operation, in addition to the orientation depicted in the figures. For example, if a device is inverted in the figure, a superior surface or element of the device can be described as being on an under surface or element, even though it is oriented downward from the perspective of the figure. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the described spatially relative terms will be interpreted accordingly. Similarly, such spatially relative terms as "below," "above," "between," and the like, can be understood to encompass different positional relationships to the device in use or operation, in addition to the relationship depicted in the figures. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the described spatially relative terms will be interpreted accordingly.

[0034] In addition, it should be noted that the use of "first", "second", and the like, terminology throughout this patent application is merely used to differentiate one element from another, and does not imply a particular order or chronology of elements. Unless otherwise stated, the use of such terminology is not meant to limit the scope of the application. Furthermore, although the terms "comprise", "comprises", "comprising", "include", "includes", "including" and the like are used herein, these terms are used in their open-ended, conventional sense and can be used in conjunction with the term "consisting of", "consisting essentially of", or "consisting of", and / or other terms. Unless otherwise stated, the use of such terminology is not meant to limit the scope of the application. Moreover, although the terms "first", "second", "third", and the like, are used herein to describe various elements, these elements should not be limited by these terms. These terms are generally only used to distinguish one element from another. Thus "first", "second", and other similar terms do not imply a chronological or sequential order, unless otherwise stated. Furthermore, the use of the terms "top", "bottom", "front", "back", and the like, are used for convenience and are not meant to be limiting. The terms "coupled" and "connected", as well as the like, are used generically and can be used to describe either a physical and / or a logical connection between two elements. The use of these terms is meant to include intellectual as well as tangible coupling or connection.

[0035] Flowcharts representative of example methods for volumetric measurement based on a depth camera according to embodiments of the present application are used herein. It should be understood that the order of the steps presented in the flowcharts is not necessarily the order in which the steps are performed. Rather, the steps can be performed in any order or simultaneously. Further, some steps can be removed, others can be added, and some steps can be performed by different components or in different orders.

[0036] Figure 2 is an example flowchart of a volumetric measurement method based on a depth camera according to an embodiment of the present application. Referring to FIG. 10, the volumetric measurement method according to the embodiment includes the following steps: Figure 2

[0037] Step S210: acquiring a first depth image of a reference platform, the first depth image including coordinate data and depth data of a plurality of pixels, the reference platform being adapted to place an object to be measured;

[0038] Step S220: substituting the coordinate data and the depth data into at least two platform empirical equations to obtain at least two simulation images, each platform empirical equation being used to represent a height variation mode of the reference platform;

[0039] ​Step S230: Calculate the correlation between each simulated image and the first depth image;

[0040] Step S240: Use the simulated image with the highest correlation as the target image of the reference platform; and

[0041] Step S250: Obtain the platform height of the reference platform based on the target image. This platform height is used to calculate the height of the object being measured, and this height is used to calculate the volume of the object being measured.

[0042] Figure 3 This is a schematic diagram of a depth image obtained in a volume measurement method according to an embodiment of the present invention. The following is in conjunction with... Figure 3 The steps S210-S250 above will be explained.

[0043] In step S210, the reference platform is a platform used to place the object being measured, which can be... Figure 1A The measurement platform 120 shown can be used. Figure 1A The depth camera 130 shown acquires a first depth image of the reference platform. (Reference) Figure 3 As shown, the first depth image 320 is located within the field of view 310 of the depth camera. The first depth image 320 is a depth image corresponding to the reference platform, encompassing all image information of the reference platform. The first depth image 320 consists of multiple pixels, each with coordinate data and depth data. For example, a pixel may be represented by p(i,j,Z), with coordinate data (i,j), where i represents the horizontal coordinate of its location on the plane, and j represents the vertical coordinate of its location on the plane; its depth data is Z, representing the distance of the pixel from the camera plane of the depth camera.

[0044] refer to Figure 3 As shown, a box represents the first depth image 320, and the reference platform is a rectangle. Figure 3 The illustration is for illustrative purposes only and is not intended to limit the specific shape and size of the first depth image 320. In some embodiments, the reference platform can be any shape such as a rectangle, circle, or triangle, and the first depth image 320 can also have a correspondingly arbitrary shape.

[0045] It should be emphasized that the first depth image obtained in step S210 is an image obtained by the depth camera when no object is placed on the reference platform. In other words, the first depth image does not contain any information about the object being measured.

[0046] refer to Figure 3 As shown, assuming the reference platform has a first size C1, the first depth image also has a first size C1. In subsequent steps, the coordinate and depth data in this first depth image are processed to obtain the platform height of the reference platform.

[0047] In some embodiments, the first depth image has a second size C2, which is smaller than the first size C1 of the reference platform. (Reference) Figure 3 As shown, in these embodiments, the first depth image is represented by a dashed box 330, which includes a portion of the reference platform image. That is, a first depth image of the reference platform size is acquired, and the second dimension C2 of this first depth image is smaller than the first dimension C1 of the reference platform. According to these embodiments, processing the smaller-sized first depth image in subsequent steps can improve processing speed and reduce processing complexity. This specification uses the first depth image with the second dimension C2 represented by dashed box 330 as an example to illustrate subsequent steps S220-S250.

[0048] Step S220 includes at least two empirical equations for the platform. These empirical equations are obtained by researchers through analysis of a large amount of data from actual measurements of the reference platform. Each empirical equation represents a first height variation pattern of the reference platform. Ideally, the reference platform is perfectly horizontal, with all points on it at the same height and at the same distance from the camera plane, thus it can be represented by a standard plane equation. However, in reality, the reference platform is not perfectly horizontal; it may be lower in the middle and higher around the edges, or higher in the middle and lower around the edges, or even a slope with one side higher than the other. Each case can be expressed using a corresponding mathematical model. By substituting the height data of the reference platform into each mathematical model, the corresponding empirical equation for the platform can be obtained. This invention does not limit the specific mathematical model used for the empirical equations for the platform.

[0049] In some embodiments, the empirical equation for the platform includes a first empirical equation for describing a first height variation pattern of the reference platform, according to which the distance between the center point of the reference platform and the camera plane of the depth camera is greater than the distance between the non-center points of the reference platform and the camera plane of the depth camera. In these embodiments, the reference platform described by the first height variation pattern has a funnel-like shape, characterized by a lower center point and higher surrounding points. Therefore, the distance between the center point and the camera plane is larger, while the distance between the surrounding non-center points and the camera plane is smaller. Accordingly, the depth data of the first depth image exhibits the characteristics of this first height variation pattern.

[0050] According to these embodiments, step S220 further includes: substituting coordinate data and depth data into each empirical equation of the platform to obtain empirical coefficients for each empirical equation of the platform; and generating a corresponding simulation image based on the empirical equation of the platform with the empirical coefficients.

[0051] In some embodiments, the empirical equation for the first countertop is shown in the following formula:

[0052]

[0053] Where x represents the horizontal coordinate of a pixel in the first depth image, y represents the vertical coordinate of a pixel in the first depth image, Z(x,y) represents the depth data of the pixel with coordinates (x,y), and k1 and b1 are the first empirical coefficients.

[0054] In the above embodiment, by substituting the coordinate data (x,y) and depth data Z of the first depth image into the first empirical equation (1) of the first platform, the first empirical coefficients k1 and b1 of the first empirical equation (1) of the first platform can be obtained.

[0055] For example, through actual calculations, we obtain the first empirical coefficients k1 = 0.015825 and b1 = 1.41363. Then, we can obtain the first empirical equation for the platform:

[0056]

[0057] The first simulation image can be generated based on the empirical equation (2) of the first platform.

[0058] In some embodiments, the size of the first simulated image is the same as the size of the first depth image.

[0059] In some embodiments, the empirical equation for the platform includes a second empirical equation for describing a second height variation pattern of the reference platform, according to which the plane containing the reference platform and the camera plane of the depth camera have an angle. In these embodiments, the reference platform is tilted, thus having an angle with the camera plane. If the plane of the reference platform and the camera plane are extended infinitely, they will intersect. Accordingly, the depth data of the first depth image has the characteristics of this second height variation pattern. Figure 3 Taking the illustrated embodiment as an example, assuming that the reference platform is a slope with the left side higher than the right side, the distance between the left side of the first depth image represented by the dashed box 330 and the camera plane is smaller, and the distance between the right side of the first depth image and the camera plane is larger.

[0060] In some embodiments, the included angle is an acute angle.

[0061] In some embodiments, the empirical equation for the second platform is shown in the following formula:

[0062] Z(x,y)=b²+k²×x+k³×y (3)

[0063] Where x represents the horizontal coordinate of a pixel in the first depth image, y represents the vertical coordinate of a pixel in the first depth image, Z(x,y) represents the depth data of the pixel with coordinates (x,y), and k2, k3 and b2 are second empirical coefficients.

[0064] In the above embodiment, by substituting the coordinate data (x,y) and depth data Z of the first depth image into the second empirical equation (3), the second empirical coefficients k2, k3 and b2 of the second empirical equation (3) can be obtained.

[0065] For example, through actual calculations, we obtain the second empirical coefficients k2 = 0.59385, k3 = 0.018809, and b2 = 1.41363. Then, we can obtain the second empirical equation for the platform:

[0066] Z(x,y)=1.41363+0.59385×x+0.018809×y (4)

[0067] The second simulation image can be generated based on the empirical equation (4) of the second platform.

[0068] In some embodiments, the size of the second simulated image is the same as the size of the first depth image.

[0069] In step S230, the correlation between each simulated image and the first depth image is calculated. This correlation characterizes the consistency between each simulated image and the first depth image. The present invention does not limit the method used to calculate the correlation. Those skilled in the art can use any known method. For example, the ratio of the difference between the two sets of data (simulated image and first depth image) to the absolute value of the two sets of data can be calculated. Ideally, the difference is zero, indicating the strongest correlation between the two sets of data, and thus the fitted data best represents the original data.

[0070] In conjunction with the above embodiments, step S230 requires calculating the first correlation between the first simulated image and the first depth image, and the second correlation between the second simulated image and the first depth image, respectively.

[0071] In some embodiments, dimensionality reduction or data reduction processing of the simulated image and / or the first depth image may be included before calculating the correlation to simplify the complexity of the correlation calculation. For example, if the simulated image was originally a 16-bit image, it may be converted into an 8-bit image.

[0072] In step S240, the simulated image with the highest correlation is used as the target image of the reference platform.

[0073] Continuing with the example above, the first simulated image is obtained using the first empirical equation (2) for the first platform, and the first correlation coefficient between the first simulated image and the first depth image is 0.9875. The second simulated image is obtained using the second empirical equation (4) for the second platform, and the second correlation coefficient between the second simulated image and the first depth image is 0.9879. Since the second correlation coefficient is larger, it indicates that the second empirical equation (4) for the second platform is more consistent with the actual variation pattern of the reference platform. Therefore, the second simulated image is used as the target image of the reference platform.

[0074] It is understandable that for embodiments with more than two empirical equations for the platform, the empirical equation for the platform with the highest correlation and its simulation image are selected as the target image of the reference platform.

[0075] In step S250, the platform height of the reference platform is obtained based on the target image. The platform height is used to calculate the height of the object being measured, and the height is used to calculate the volume of the object being measured.

[0076] It is understood that the platform height reflected by the target image used in step S250 is closest to the platform height of the formal reference platform. Therefore, when measuring the volume of the object being measured, the object is placed on the reference platform, and a depth image of the object is obtained, which is the distance between the upper surface of the object and the camera plane. Subtracting the platform height of the reference platform at the corresponding position from this distance yields the accurate height of the object. Using this height to calculate the volume of the object has high accuracy.

[0077] This invention does not limit the methods for obtaining the cross-sectional area of ​​the object being measured, or for calculating the volume of the object using its height.

[0078] In some embodiments, after obtaining the target image in step S240, the method further includes: making the target size of the target image greater than or equal to a third size of the object being measured, wherein the third size is greater than a first size of the reference platform. According to these embodiments, the third size C3 of the object being measured is greater than the first size C1 of the reference platform. Therefore, when the object being measured is placed on the reference platform, some parts will protrude from the reference platform, and the height measurement of these protruding parts is particularly prone to error. The size of the target image could originally be a second size C2, which is smaller than the first size C1 of the reference platform. According to these embodiments, the size of the target image is enlarged to a third size C3 greater than or equal to the first size C1. Since the target image has a corresponding empirical equation for the platform, it is only necessary to calculate the corresponding depth data based on the coordinates of the portion to be enlarged according to this empirical equation to obtain a target image with a third size C3.

[0079] In the above embodiments, the third dimension of the object being measured can be the dimension of its bottom surface. When measuring the volume of the object, its bottom surface is in contact with the reference platform. This third dimension can also be the dimension when the object is placed on the reference platform, such as... Figure 1B The outline area observed from the top-down view shown.

[0080] Based on the volume measurement method described above, the size of the target image is made greater than or equal to the bottom surface size of the object being measured. The size of the target image can be adjusted according to the size of the object being measured, thereby obtaining more data on the height of the reference platform. This helps to calculate the height of objects with larger dimensions and further improves the accuracy of object volume measurement.

[0081] The present invention also includes a depth camera-based volume measurement device, comprising a memory and a processor. The memory stores instructions executable by the processor; the processor executes these instructions to implement the depth camera-based volume measurement method described above.

[0082] Figure 4 This is a system block diagram of a volume measurement device based on a depth camera according to an embodiment of the present invention. (Reference) Figure 4 As shown, the volume measurement device 400 may include an internal communication bus 401, a processor 402, a read-only memory (ROM) 403, a random access memory (RAM) 404, and a communication port 405. When applied to a personal computer, the volume measurement device 400 may also include a hard disk 406. The internal communication bus 401 enables data communication between the components of the volume measurement device 400. The processor 402 can make judgments and issue prompts. In some embodiments, the processor 402 may consist of one or more processors. The communication port 405 enables data communication between the volume measurement device 400 and external devices. In some embodiments, the volume measurement device 400 can send and receive information and data from a network through the communication port 405. The volume measurement device 400 may also include different forms of program storage units and data storage units, such as the hard disk 406, the read-only memory (ROM) 403, and the random access memory (RAM) 404, capable of storing various data files used for computer processing and / or communication, as well as possible program instructions executed by the processor 402. The processor executes these instructions to implement the main part of the method. The results processed by the processor are transmitted to the user device through the communication port and displayed on the user interface.

[0083] The volume measurement method described above can be implemented as a computer program, stored in hard disk 406, and loaded into processor 402 for execution to implement the volume measurement method of this application.

[0084] The present invention also includes a computer-readable medium storing computer program code that, when executed by a processor, implements the aforementioned depth camera-based volume measurement method.

[0085] When a depth camera-based volume measurement method is implemented as a computer program, it can also be stored as an article of manufacture in a computer-readable storage medium. For example, computer-readable storage media can include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical discs (e.g., compact discs (CDs), digital multifunction discs (DVDs)), smart cards, and flash memory devices (e.g., electrically erasable programmable read-only memory (EPROM), cards, sticks, key drives). Furthermore, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" can include, but is not limited to, wireless channels and various other media (and / or storage media) capable of storing, containing, and / or carrying code and / or instructions and / or data.

[0086] It should be understood that the embodiments described above are merely illustrative. The embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For hardware implementation, the processor may be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or combinations thereof.

[0087] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0088] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0089] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0090] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0091] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A volume measurement method based on a depth camera, characterized in that, include: A first depth image of a reference platform is acquired. The first depth image includes coordinate data and depth data of multiple pixels. The reference platform is suitable for placing the object to be measured. Substituting the coordinate data and depth data into at least two empirical equations for the platform, at least two simulated images are obtained. Each empirical equation represents a height variation pattern of the reference platform. When the reference platform exhibits a first height variation pattern, the empirical equation describes the shape of a low center and high perimeter. When the reference platform exhibits a second height variation pattern, the empirical equation describes the shape of the slope. Calculate the correlation between each of the simulated images and the first depth image; The simulated image with the highest correlation is used as the target image of the reference platform; and The platform height of the reference platform is obtained based on the target image. The platform height is used to calculate the height of the object being measured, and the height is used to calculate the volume of the object being measured.

2. The volume measurement method as described in claim 1, characterized in that, The reference platform has a first size, and the first depth image has a second size, the second size being smaller than the first size.

3. The volume measurement method as described in claim 1, characterized in that, After obtaining the target image, the method further includes: making the target size of the target image greater than or equal to the third size of the object being measured, wherein the third size is greater than the first size of the reference platform.

4. The volume measurement method as described in claim 1, characterized in that, The size of the simulated image is the same as the size of the first depth image.

5. The volume measurement method as described in claim 1, characterized in that, The step of substituting the coordinate data and depth data into at least two empirical equations for the platform to obtain at least two simulated images includes: substituting the coordinate data and depth data into each of the empirical equations for the platform to obtain empirical coefficients for each of the empirical equations for the platform; and generating corresponding simulated images based on the empirical equations for the platform with the empirical coefficients.

6. The volume measurement method as described in claim 1, characterized in that, The empirical equation for the platform includes a first empirical equation for describing a first height variation pattern of the reference platform, according to which the distance between the center point of the reference platform and the camera plane of the depth camera is greater than the distance between the non-center point of the reference platform and the camera plane of the depth camera.

7. The volume measurement method as described in claim 6, characterized in that, The empirical equation for the first platform is shown in the following formula: Where x represents the horizontal coordinate of a pixel in the first depth image, y represents the vertical coordinate of a pixel in the first depth image, Z(x,y) represents the depth data of the pixel with coordinates (x,y), and k1 and b1 are first empirical coefficients.

8. The volume measurement method as described in claim 1, characterized in that, The empirical equation for the platform includes a second empirical equation for describing a second height variation pattern of the reference platform, according to which the plane containing the reference platform and the camera plane of the depth camera have an angle.

9. The volume measurement method as described in claim 8, characterized in that, The empirical equation for the second platform is shown in the following formula: Z(x,y)=b²+k²×x+k³×y Where x represents the horizontal coordinate of a pixel in the first depth image, y represents the vertical coordinate of a pixel in the first depth image, Z(x,y) represents the depth data of the pixel with coordinates (x,y), and k2, k3, and b2 are second empirical coefficients.

10. The volume measurement method as described in claim 8, characterized in that, The included angle is an acute angle.

11. A volume measurement device based on a depth camera, comprising: Memory is used to store instructions that can be executed by the processor; A processor for executing the instructions to implement the method as described in any one of claims 1-10.

12. A computer-readable medium storing computer program code that, when executed by a processor, implements the method as claimed in any one of claims 1-10.

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