Method and apparatus for testing depth camera light sensor eccentricity

Abstract

The application provides a kind of depth camera light sensor eccentricity test method and device, comprising: marking the center position of depth camera imaging field of view;At least one target is set, the imaging center point of target is located on the median line of imaging field of view by carousel control depth camera rotation;Control depth camera first clockwise rotation alpha degree to make the imaging center point of target be located on the side boundary of imaging field of view, then control depth camera first counterclockwise rotation beta degree to make the imaging center point of target be located on the other side boundary of imaging field of view;According to the angle difference between the rotation angle 2 alpha degree and beta degree, the pixel difference formed in imaging field of view is determined, and then the eccentricity value of light sensor is determined according to the pixel difference.The depth camera is driven to rotate by carousel in the application, and the eccentricity value of light sensor is calculated by cooperating target in the imaging field of view of depth camera, which realizes more simple, easy to realize the calculation of light sensor eccentricity value.

Description

Technical Field

[0001] This invention relates to depth cameras, and more specifically, to a method and apparatus for testing the eccentricity of a depth camera's optical sensor. Background Technology

[0002] As a novel technology, 3D depth vision has already appeared in consumer products such as mobile phones, motion-sensing games, and payment systems, and is gradually penetrating new fields such as security and autonomous driving. With continuous advancements in hardware technology and ongoing optimizations at the algorithm and software levels, the accuracy, precision, and practical application scope of 3D depth vision have been significantly improved.

[0003] The main solutions currently used for 3D depth vision include binocular stereo vision, 3D structured light, and TOF.

[0004] To achieve better depth reconstruction results, it is necessary to ensure that the optical center deviation of the module is controlled within a certain range. However, currently, testing the optical sensor eccentricity requires relatively complex and expensive instruments. Therefore, there is an urgent need for a simple method that can quickly and accurately test the optical sensor eccentricity of the depth camera. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and apparatus for testing the eccentricity of a depth camera's optical sensor.

[0006] The depth camera optical sensor eccentricity testing method provided by the present invention includes the following steps:

[0007] Step S1: Mark the center position of the imaging field of view of the depth camera;

[0008] Step S2: Set at least one target, and control the rotation of the depth camera by turning the turntable so that the imaging center point of the target is located on the vertical line of the imaging field of view;

[0009] Step S3: Control the depth camera to first rotate clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view, and then control the depth camera to first rotate counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view;

[0010] Step S4: Determine the pixel difference formed in the imaging field of view based on the angle difference between the rotation angles 2α degrees and β degrees, and then determine the eccentricity value of the light sensor based on the pixel difference.

[0011] Preferably, there are two targets, and the two targets are located on the same horizontal line.

[0012] Preferably, the target is triangular, pentagonal, cross-shaped, rhomboid, or hexagonal.

[0013] Preferably, the depth camera includes a light projector, an infrared camera, and a processor module;

[0014] A light projector is used to project structured light onto a target.

[0015] An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern;

[0016] The processor module is used to reconstruct a depth image of the target based on the structured light pattern.

[0017] Preferably, the infrared camera includes an optical imaging lens and a light sensor;

[0018] The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor;

[0019] The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

[0020] The depth camera optical sensor eccentricity testing device provided by the present invention includes a turntable, a target, and a controller module;

[0021] The turntable is used to drive the depth camera to rotate;

[0022] The target is used to be positioned within the imaging field of view of the depth camera;

[0023] The controller module is used to control the rotation of the depth camera via a turntable, so that the imaging center point of the target is located on the vertical line of the imaging field of view. The depth camera is first rotated clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view. Then, the depth camera is first rotated counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view. The pixel difference formed in the imaging field of view is determined based on the angular difference between the rotation angles α and β degrees. Then, the eccentricity value of the light sensor is determined based on the pixel difference.

[0024] Preferably, there are two targets, and the two targets are located on the same horizontal line.

[0025] Preferably, the target is triangular, pentagonal, cross-shaped, rhomboid, or hexagonal.

[0026] Preferably, the depth camera includes a light projector, an infrared camera, and a processor module;

[0027] A light projector is used to project structured light onto a target.

[0028] An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern;

[0029] The processor module is used to reconstruct a depth image of the target based on the structured light pattern.

[0030] Preferably, the infrared camera includes an optical imaging lens and a light sensor;

[0031] The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor;

[0032] The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In this invention, the depth camera is driven to rotate by a turntable, and the eccentricity value of the light sensor is calculated only when the target is in the imaging field of view of the depth camera. This makes the calculation of the eccentricity value of the light sensor simpler and easier to implement, and can ensure that the deviation of the eccentricity value calculation result is within the pixel level. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 This is a flowchart illustrating the steps of the depth camera optical sensor eccentricity testing method in an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the depth camera optical sensor eccentricity testing method in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the depth camera optical sensor eccentricity testing device in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram illustrating the working principle of the depth camera in an embodiment of the present invention; and

[0040] Figure 5 This is a schematic diagram of the structure of the infrared camera in an embodiment of the present invention.

[0041] In the picture:

[0042] 1 is a depth camera; 101 is an optical imaging lens; 102 is a narrowband filter; 103 is a light sensor; 2 is a turntable; 3 is a target. Detailed Implementation

[0043] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0044] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0045] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] Figure 1 This is a flowchart illustrating the steps of the depth camera optical sensor eccentricity testing method in an embodiment of the present invention. Figure 2 This is a schematic diagram of the depth camera optical sensor eccentricity testing method in an embodiment of the present invention, as shown below. Figure 1 , Figure 2 As shown, the depth camera optical sensor eccentricity testing method provided by the present invention includes the following steps:

[0048] Step S1: Mark the center position of the imaging field of view of the depth camera;

[0049] Step S2: Set at least one target, and control the rotation of the depth camera by turning the turntable so that the imaging center point of the target is located on the vertical line of the imaging field of view;

[0050] Step S3: Control the depth camera to first rotate clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view, and then control the depth camera to first rotate counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view;

[0051] Step S4: Based on the pixel difference in the imaging field of view formed by the angular difference between the rotation angles 2α degrees and β degrees, the eccentricity value of the light sensor is determined.

[0052] In this embodiment of the invention, the number of targets is two, and the two targets are located on the same horizontal line.

[0053] The targets are triangular, pentagonal, cross-shaped, rhomboid, and hexagonal.

[0054] In this embodiment of the invention, the depth camera includes a light projector, an infrared camera, and a processor module;

[0055] A light projector is used to project structured light onto a target.

[0056] An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern;

[0057] A processor module is used to reconstruct a depth image of the target based on a structured light pattern;

[0058] A floodlight projector is used to project a floodlight onto a target.

[0059] In embodiments of the present invention, such as Figure 4 As shown, when using the depth camera provided by this invention, a background image can first be acquired using an infrared camera, then an infrared structured light image can be acquired after projecting structured light onto the target using a structured light projector, and finally an infrared image can be acquired after projecting floodlight onto the target using a floodlight projector. The infrared camera used is a 940nm infrared camera. The floodlight projector uses an LED light source.

[0060] Figure 5 This is a schematic diagram of the structure of the infrared camera in an embodiment of the present invention, as shown below. Figure 5 As shown, in this embodiment of the invention, the infrared camera includes an optical imaging lens and a light sensor;

[0061] The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor;

[0062] The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

[0063] In this embodiment of the invention, to filter background noise, the optical imaging lens typically also includes a narrowband filter 102, ensuring that the photodetector array can only pass incident collimated beams of a preset wavelength. The preset wavelength can be the wavelength of the incident collimated beam, or it can be between 50 nanometers less and 50 nanometers greater than the incident collimated beam. The photodetector array can be arranged periodically or non-periodically. Depending on the required number of discrete collimated beams, the photodetector array can be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors. To further optimize the sensitivity of the photodetectors, the illumination spot of a discrete collimated beam on the target can correspond to one or more photodetectors. When multiple photodetectors correspond to the same illumination spot, the signals from each detector can be connected through a circuit, thereby merging into a photodetector with a larger detection area.

[0064] In this embodiment of the invention, the photodetector can be a CMOS photodetector, a CCD photodetector, or a SPAD photodetector. The detector end is an infrared detector, which receives the dot matrix light reflected by the target.

[0065] Figure 3 This is a schematic diagram of the depth camera optical sensor eccentricity testing device in an embodiment of the present invention, as shown below. Figure 3 As shown, the depth camera optical sensor eccentricity testing device provided by the present invention includes a turntable, a target, and a controller module.

[0066] The turntable is used to drive the depth camera to rotate;

[0067] The target is positioned within the imaging field of view of the depth camera;

[0068] The controller module is used to control the rotation of the depth camera via a turntable, so that the imaging center point of the target is located on the vertical line of the imaging field of view. The depth camera is first rotated clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view. Then, the depth camera is first rotated counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view. The pixel difference formed in the imaging field of view is determined based on the angular difference between the rotation angles α and β degrees. Then, the eccentricity value of the light sensor is determined based on the pixel difference.

[0069] In this embodiment of the invention, there are two targets, and the two targets are located on the same horizontal line. The targets are triangular, pentagonal, cross-shaped, rhomboid, or hexagonal.

[0070] In this embodiment of the invention, the depth camera includes a light projector, an infrared camera, and a processor module;

[0071] A light projector is used to project structured light onto a target.

[0072] An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern;

[0073] The processor module is used to reconstruct a depth image of the target based on the structured light pattern.

[0074] In this embodiment of the invention, when using the depth camera provided by the present invention, a background image can first be acquired using an infrared camera, then an infrared structured light image can be acquired after projecting structured light onto the target using a structured light projector, and finally an infrared image can be acquired after projecting floodlight onto the target using a floodlight projector. The infrared camera is a 940nm infrared camera. The floodlight projector uses an LED light source.

[0075] In this embodiment of the invention, the infrared camera includes an optical imaging lens and a light sensor;

[0076] The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor;

[0077] The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

[0078] In this embodiment of the invention, to filter background noise, the optical imaging lens typically also includes a narrowband filter 102, ensuring that the photodetector array can only pass incident collimated beams of a preset wavelength. The preset wavelength can be the wavelength of the incident collimated beam, or it can be between 50 nanometers less and 50 nanometers greater than the incident collimated beam. The photodetector array can be arranged periodically or non-periodically. Depending on the required number of discrete collimated beams, the photodetector array can be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors. To further optimize the sensitivity of the photodetectors, the illumination spot of a discrete collimated beam on the target can correspond to one or more photodetectors. When multiple photodetectors correspond to the same illumination spot, the signals from each detector can be connected through a circuit, thereby merging into a photodetector with a larger detection area.

[0079] In this embodiment of the invention, the photodetector can be a CMOS photodetector, a CCD photodetector, or a SPAD photodetector. The detector end is an infrared detector, which receives the dot matrix light reflected by the target.

[0080] In this embodiment of the invention, the depth camera is driven to rotate by a turntable, and the eccentricity value of the light sensor is calculated only when the target is in the imaging field of view of the depth camera. This makes the calculation of the eccentricity value of the light sensor simpler and easier to implement, and ensures that the deviation of the eccentricity value calculation result is within the pixel level.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Specific embodiments of the invention have been described above. It should be understood that the invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the invention.

Claims

1. A method for testing the eccentricity of a depth camera's optical sensor, characterized in that, Includes the following steps: Step S1: Mark the center position of the imaging field of view of the depth camera; Step S2: Set at least one target, and control the rotation of the depth camera by turning the turntable so that the imaging center point of the target is located on the vertical line of the imaging field of view; Step S3: Control the depth camera to first rotate clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view, and then control the depth camera to first rotate counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view; Step S4: Determine the pixel difference formed in the imaging field of view based on the angular difference between the rotation angles 2α degrees and β degrees, and then determine the eccentricity value of the light sensor based on the pixel difference.

2. The method for testing the eccentricity of a depth camera optical sensor according to claim 1, characterized in that, The number of targets is two, and the two targets are located on the same horizontal line.

3. The method for testing the eccentricity of a depth camera optical sensor according to claim 1, characterized in that, The target is one of the following shapes: triangle, pentagon, cross, rhombus, and hexagon.

4. The method for testing the eccentricity of a depth camera optical sensor according to claim 1, characterized in that, The depth camera includes a light projector, an infrared camera, and a processor module; A light projector is used to project structured light onto a target. An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern; The processor module is used to reconstruct a depth image of the target based on the structured light pattern.

5. The method for testing the eccentricity of a depth camera optical sensor according to claim 4, characterized in that, The infrared camera includes an optical imaging lens and a light sensor; The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor; The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

6. A depth camera optical sensor eccentricity testing device, characterized in that, Includes a turntable, target, and controller module; The turntable is used to drive the depth camera to rotate; The target is used to be positioned within the imaging field of view of the depth camera; The controller module is used to control the rotation of the depth camera via a turntable, so that the imaging center point of the target is located on the vertical line of the imaging field of view. The depth camera is first rotated clockwise by α degrees so that the imaging center point of the target is located on one side boundary of the imaging field of view. Then, the depth camera is first rotated counterclockwise by β degrees so that the imaging center point of the target is located on the other side boundary of the imaging field of view. The pixel difference formed in the imaging field of view is determined based on the angular difference between the rotation angles α and β degrees. Then, the eccentricity value of the light sensor is determined based on the pixel difference.

7. The depth camera optical sensor eccentricity testing device according to claim 6, characterized in that, The number of targets is two, and the two targets are located on the same horizontal line.

8. The depth camera optical sensor eccentricity testing device according to claim 6, characterized in that, The target is one of the following shapes: triangle, pentagon, cross, rhombus, and hexagon.

9. The depth camera optical sensor eccentricity testing device according to claim 6, characterized in that, The depth camera includes a light projector, an infrared camera, and a processor module; A light projector is used to project structured light onto a target. An infrared camera is used to receive the structured light reflected from the target to generate a structured light pattern; The processor module is used to reconstruct a depth image of the target based on the structured light pattern.

10. The depth camera optical sensor eccentricity testing device according to claim 9, characterized in that, The infrared camera includes an optical imaging lens and a light sensor; The optical imaging lens is used to allow structured light passing through the optical imaging lens to enter the optical sensor; The optical sensor is used to receive structured light reflected by the target object and generate a structured light pattern based on the structured light.

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