Depth camera

Abstract

The invention provides a depth camera comprising a light projection module used for projecting a light beam to a target object in a scene; the light receiving module is used for receiving light signals formed after the light beams are reflected by the target object through at least four receiving windows, so that at least a first electric signal, a second electric signal, a third electric signal and a fourth electric signal can be collected at each pixel point according to a preset equal-interval phase difference; and the control module is used for determining a scaling factor according to the numerical values of the first electric signal and the third electric signal and the numerical value sum ratio of the second electric signal and the fourth electric signal, judging whether the scaling factor is in a preset threshold interval or not, and judging that the pixel point is motion blur when the scaling factor is in the preset scaling interval. According to the invention, whether the pixel point has motion blur can be determined according to the scale factor, rapid detection of motion blur in a single-frequency frame and between double-frequency frames is realized, motion blur removal is facilitated, and the display effect of the depth image is improved.

Description

Technical Field

[0001] The present invention relates to a TOF camera, and in particular to a depth camera. Background Art

[0002] In recent years, 3D vision has been widely used in industries such as robotics, industrial production, intelligent logistics, medical care, autonomous driving, and secure payment. Among them, TOF cameras, as a device that can output depth maps, have also been widely studied. The principle of TOF cameras is to calculate the distance of the photographed object from the camera by calculating the phase difference between the emitted infrared light and the received infrared light. In order to improve the accuracy, the existing technology usually uses four sine waves with different phases to correlate with the received light to calculate the depth value. Furthermore, in order to improve the camera's ranging by 20%, two depth maps are usually calculated using two different frequencies of emitted infrared light, and a depth map with a larger range is obtained through dual-frequency fusion.

[0003] However, in practical applications, due to object motion or camera movement, the correlation graphs of four different phases at the same frequency and the depth graphs between two frequencies often do not match. This results in incorrect depth values due to motion when calculating depth using four phases and performing dual-frequency fusion, resulting in motion blur.

[0004] Due to the differences in imaging methods between TOF cameras and traditional RGB cameras, motion blur removal methods used in traditional cameras cannot be directly applied to TOF cameras. Current motion blur detection and removal methods for TOF cameras each have their own drawbacks and are not universally applicable to most scenarios. Furthermore, there is currently no method specifically designed to detect and remove motion blur caused by dual-frequency fusion. Summary of the Invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a depth camera.

[0006] The depth camera provided by the present invention includes the following modules:

[0007] A light projection module, used to project a light beam toward a target object in the scene;

[0008] an optical receiving module, configured to receive, through at least four receiving windows, an optical signal formed after the light beam is reflected by the target object, so as to collect at least a first electrical signal, a second electrical signal, a third electrical signal, and a fourth electrical signal at each pixel point according to a preset equally spaced phase difference;

[0009] The control module is used to determine a proportional factor based on the ratio of the numerical value sum of the first electrical signal and the third electrical signal to the numerical value sum of the second electrical signal and the fourth electrical signal, and determine whether the proportional factor is within a preset threshold range. When the proportional factor is within the preset proportional range, it is determined that the pixel point is motion blurred.

[0010] Preferably, the light projection module includes a light source, a light source driver and a light modulator;

[0011] The light source driver is connected to the light source and is used to drive the light source to emit light;

[0012] The light modulator is connected to the light source and is used to modulate the light projected by the light source into a sinusoidal wave beam and then project it toward the target object to be measured.

[0013] Preferably, the light receiving module includes a lens, a filter, and an image sensor arranged along the light path, and the image sensor is provided with at least four receiving windows;

[0014] The image sensor is used to receive the optical signal through at least four receiving windows; the at least four receiving windows are arranged in sequence at equal intervals in time, and then generate the first electrical signal, the second electrical signal, the third electrical signal and the fourth electrical signal according to the optical signal received by each receiving window.

[0015] Preferably, determining the scaling factor comprises the following steps:

[0016] Step M1: Calculate the sum of the first electrical signal and the third electrical signal, that is, Sum0+Sum 180 , the first electrical signal Sum0 represents an electrical signal with a phase angle of 0, the third electrical signal Sum 180 Represents an electrical signal with a phase angle of 180;

[0017] Step M2: Calculate the sum of the second electrical signal and the fourth electrical signal, that is, Sum 90 +Sum 270 , the second electrical signal Sum 90 Indicates that the phase angle is 90 degrees. The third electrical signal Sum 270 Represents an electrical signal with a phase angle of 270;

[0018] Step M3: Generate a proportional factor ratio, where ratio = (Sum0 + Sum 180 ) / (Sum 90 +Sum 270 ).

[0019] Preferably, determining the scaling factor comprises the following steps:

[0020] Step N1: Calculate the sum of the values of the first electrical signal A, the first electrical signal B, the third electrical signal A, and the third electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by receiving the first light beam is received. Indicates that the phase angle of the received second light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by the second light beam is received, 75 MHz represents the frequency of the first light beam, and 100 MHz represents the frequency of the second light beam;

[0021] Step N2: Calculate the sum of the values of the second electrical signal A, the fourth electrical signal A, the second electrical signal B, and the fourth electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 90 degrees, and the third electric signal Indicates that the phase angle of the first light beam is 270 degrees, and the first electric signal Indicates that the phase angle of the second light beam is 90 degrees, and the third electric signal Indicates that the electrical signal with a phase angle of 270° is received by the second light beam;

[0022] Step N3: Generate the scaling factor ratio,

[0023] in,

[0024] Preferably, when removing the motion blur, the following steps are included:

[0025] Step S1: When a pixel point has motion blur, the pixel value of the pixel point is set to a first value, otherwise it is set to a second value, to generate a first binary image;

[0026] Step S2: performing a dilation operation on the first binary image to remove isolated pixels to generate a second binary image;

[0027] Step S3: Acquire a depth image, align the depth image with the second binarized image at the pixel level, and set the depth values of the pixels in the second binarized image with the first value and the corresponding positions in the depth image to 0 to remove motion blur.

[0028] Preferably, each of the electrical signals is the sum of the electrical signal tapA and the electrical signal tapB;

[0029] The electrical signal tapA is collected through a first capacitor, and the electrical signal tapB is collected through a second capacitor; the phase difference between the signal receiving time windows of the first capacitor and the second capacitor is 180°.

[0030] Preferably, the first electrical signal A is an electrical signal with a phase angle of 0, the second electrical signal A is an electrical signal with a phase angle of 90, the third electrical signal A is an electrical signal with a phase angle of 180, and the fourth electrical signal A is an electrical signal with a phase angle of 270. The first electrical signal B is an electrical signal with a phase angle of 0, the second electrical signal B is an electrical signal with a phase angle of 90, the third electrical signal B is an electrical signal with a phase angle of 180, and the fourth electrical signal B is an electrical signal with a phase angle of 270.

[0031] Preferably, the first electrical signal is an electrical signal with a phase angle of 0, the second electrical signal is an electrical signal with a phase angle of 90, the third electrical signal is an electrical signal with a phase angle of 180, and the fourth electrical signal is an electrical signal with a phase angle of 270.

[0032] Preferably, the electrical signal tapB is an inverted signal of the electrical signal tapA, and the electrical signal tapB and the electrical signal tapA are voltage signals, charge quantities or pixel values.

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

[0034] In the present invention, the optical receiving module collects four electrical signals at equal intervals and phase differences at a pixel point, and the control module determines a proportional factor based on the ratio of the sum of the values of the first and third electrical signals to the sum of the values of the second and fourth electrical signals. The proportional factor is used to determine whether the pixel point has motion blur, thereby achieving fast detection of motion blur within a single-frequency frame and between dual-frequency frames, facilitating motion blur removal, and improving the display effect of the depth image.

[0035] In the present invention, each of the electrical signals is the sum of the electrical signal tapA and the electrical signal tapB. The electrical signals tapA and tapB are collected by two different capacitors at the same time. Compared with using only tapA or tapB, the accuracy of motion blur can be improved, and the robustness of the present invention to the temporal noise of a single capacitor is improved, thereby reducing the possibility of misjudgment and missed judgment, and can ensure that the motion blur area can be effectively identified in more scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. Other features, purposes and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0037] Figure 1 Schematic diagram of a depth camera module according to an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of a light projection module according to an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of an optical receiving module according to an embodiment of the present invention;

[0040] Figure 4 A flowchart of the steps for calculating the scaling factor in an embodiment of the present invention;

[0041] Figure 5 A flowchart of the steps for calculating the scaling factor in a modified embodiment of the present invention; and

[0042] Figure 6 Flowchart of the steps for removing motion blur in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0044] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatus.

[0045] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0046] The depth camera provided by the present invention is intended to solve the problems existing in the prior art.

[0047] The following describes in detail the technical solutions of the present invention and how the technical solutions of this application solve the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0048] Figure 1 FIG. 1 is a schematic diagram of a module of a depth camera according to an embodiment of the present invention. Figure 1 As shown, the depth camera provided by the present invention includes the following modules:

[0049] A light projection module, used to project a light beam toward a target object in the scene;

[0050] an optical receiving module, configured to receive, through at least four receiving windows, an optical signal formed after the light beam is reflected by the target object, so as to collect at least a first electrical signal, a second electrical signal, a third electrical signal, and a fourth electrical signal at each pixel point according to a preset equally spaced phase difference;

[0051] The control module is used to determine a proportional factor based on the ratio of the numerical value sum of the first electrical signal and the third electrical signal to the numerical value sum of the second electrical signal and the fourth electrical signal, and determine whether the proportional factor is within a preset threshold range. When the proportional factor is within the preset proportional range, it is determined that the pixel point is motion blurred.

[0052] In an embodiment of the present invention, the depth camera is a 2-tap, 4-phase TOF camera. Each of the electrical signals is the sum of the electrical signal tapA and the electrical signal tapB;

[0053] The electrical signal tapA is collected through a first capacitor, and the electrical signal tapB is collected through a second capacitor; the phase difference between the signal receiving time windows of the first capacitor and the second capacitor is 180°.

[0054] In an embodiment of the present invention, the electrical signal tapB is an inverted signal of the electrical signal tapA. The electrical signal tapB and the electrical signal tapA can be voltage signals, or can be charge quantities or pixel values. In the present invention, each electrical signal is the sum of the electrical signal tapA and the electrical signal tapB. The electrical signals tapA and tapB are collected by two different capacitors at the same time. Compared with using only tapA or tapB, this can improve the accuracy of motion blur and enhance the robustness of the present invention to the temporal noise of a single capacitor, thereby reducing the possibility of misjudgment and missed judgment, and can ensure effective identification of motion blur areas in more scenarios.

[0055] In the embodiment of the present invention, the threshold interval may be set to [0, 0.98)U(1.02, +∞].

[0056] Figure 2 FIG. 1 is a schematic diagram of a light projection module according to an embodiment of the present invention. Figure 2 As shown, the light projection module includes a light source, a light source driver and a light modulator;

[0057] The light source driver is connected to the light source and is used to drive the light source to emit light;

[0058] The light modulator is connected to the light source and is used to modulate the light projected by the light source into a sinusoidal wave beam and then project it toward the target object to be measured.

[0059] Figure 3 FIG. 1 is a schematic diagram of a light receiving module according to an embodiment of the present invention. Figure 3 As shown, the light receiving module includes a lens, a filter and an image sensor arranged along the light path, and the image sensor is provided with at least four receiving windows;

[0060] The image sensor is used to receive the optical signal through at least four receiving windows; the at least four receiving windows are arranged in sequence at equal intervals in time, and then generate the first electrical signal, the second electrical signal, the third electrical signal and the fourth electrical signal according to the optical signal received by each receiving window.

[0061] In an embodiment of the present invention, when the depth camera provided by the present invention is used, a light beam is projected toward the target object through the light projector module, and the light beam is a modulated sinusoidal wave beam; the light receiving module receives the light beam reflected by the target object, and each detector in the imaging array generates an electrical signal according to the received light signal, and collects the first electrical signal, the second electrical signal, the third electrical signal and the fourth electrical signal at equal intervals of 90°.

[0062] The image sensor is configured to receive at least the optical signal through at least four receiving windows; the at least four receiving windows are sequentially arranged in time sequence, and each of the electrical signals is generated according to the optical signal received by each receiving window.

[0063] In an embodiment of the present invention, the first electrical signal is an electrical signal with a phase angle of 0, the second electrical signal is an electrical signal with a phase angle of 90, the third electrical signal is an electrical signal with a phase angle of 180, and the fourth electrical signal is an electrical signal with a phase angle of 270.

[0064] In a modified example of the present invention, when the depth camera provided by the present invention is used, a first light beam of a first frequency and a second light beam of a second frequency are projected toward a target object through a light projector module, and the first light beam and the second light beam are modulated sinusoidal light beams; the first light beam and the second light beam reflected by the target object are received through the light receiving module, and each detector in the imaging array generates an electrical signal according to the received light signal, and the first electrical signal A, the second electrical signal A, the third electrical signal A and the fourth electrical signal A are collected at equal intervals of 90° for the electrical signal formed by receiving the first light beam, and the first electrical signal B, the second electrical signal B, the third electrical signal B and the fourth electrical signal B are collected at equal intervals of 90° for the electrical signal formed by receiving the second light beam.

[0065] In the embodiment of the present invention, the first electrical signal A is an electrical signal with a phase angle of 0, the second electrical signal A is an electrical signal with a phase angle of 90, the third electrical signal A is an electrical signal with a phase angle of 180, and the fourth electrical signal A is an electrical signal with a phase angle of 270. The first electrical signal B is an electrical signal with a phase angle of 0, the second electrical signal B is an electrical signal with a phase angle of 90, the third electrical signal B is an electrical signal with a phase angle of 180, and the fourth electrical signal B is an electrical signal with a phase angle of 270.

[0066] Figure 4 FIG. 1 is a flow chart of steps for calculating the scaling factor in an embodiment of the present invention. Figure 4 As shown, determining the scaling factor includes the following steps:

[0067] Step M1: Calculate the sum of the first electrical signal and the third electrical signal, that is, Sum0+Sum 180 , the first electrical signal Sum0 represents an electrical signal with a phase angle of 0, the third electrical signal Sum 180 Represents an electrical signal with a phase angle of 180;

[0068] Step M2: Calculate the sum of the second electrical signal and the fourth electrical signal, that is, Sum 90 +Sum 270 , the second electrical signal Sum 90 Indicates that the phase angle is 90 degrees. The third electrical signal Sum270 Represents an electrical signal with a phase angle of 270;

[0069] Step M3: Generate a proportional factor ratio, where ratio = (Sum0 + Sum 180 ) / (Sum 90 +Sum 270 ).

[0070] Figure 5 Flowchart of the steps for calculating the scale factor in a modified example of the present invention, as shown in FIG. Figure 5 As shown, determining the scaling factor includes the following steps:

[0071] Step N1: Calculate the sum of the values of the first electrical signal A, the first electrical signal B, the third electrical signal A, and the third electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by receiving the first light beam is received. Indicates that the phase angle of the received second light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by the second light beam is received, 75 MHz represents the frequency of the first light beam, and 100 MHz represents the frequency of the second light beam;

[0072] Step N2: Calculate the sum of the values of the second electrical signal A, the fourth electrical signal A, the second electrical signal B, and the fourth electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 90 degrees, and the third electric signal Indicates that the phase angle of the first light beam is 270 degrees, and the first electric signal Indicates that the phase angle of the second light beam is 90 degrees, and the third electric signal Indicates that the electrical signal with a phase angle of 270° is received by the second light beam;

[0073] Step N3: Generate the scaling factor ratio,

[0074] in,

[0075] In the embodiment of the present invention, the motion blur may be judged according to |1-ratio|>ε1, and the value of ε1 may be set to 0.02.

[0076] Figure 6 FIG. 1 is a flow chart of the steps for removing motion blur in an embodiment of the present invention. Figure 6 As shown, the depth camera provided by the present invention, when removing the motion blur, includes the following steps:

[0077] Step S1: When a pixel point has motion blur, the pixel value of the pixel point is set to a first value, otherwise it is set to a second value, to generate a first binary image;

[0078] Step S2: performing a dilation operation on the first binary image to remove isolated pixels to generate a second binary image;

[0079] Step S3: Acquire a depth image, align the depth image with the second binarized image at the pixel level, and set the depth values of the pixels in the second binarized image with the first value and the corresponding positions in the depth image to 0 to remove motion blur.

[0080] In an embodiment of the present invention, the first value may be set to 255; the second value may be set to 0; the depth image is an infrared image generated simultaneously by the TOF camera when acquiring the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal. The dilation operation specifically enlarges each pixel so that adjacent pixels are connected.

[0081] In an embodiment of the present invention, the optical receiving module collects four electrical signals with equal phase differences at a pixel point, and the control module determines a proportional factor by the ratio of the numerical sum of the first electrical signal and the third electrical signal to the numerical sum of the second electrical signal and the fourth electrical signal. The proportional factor is used to determine whether the pixel point has motion blur, thereby realizing quick detection of motion blur within a single-frequency frame and between dual-frequency frames, facilitating motion blur removal, and improving the display effect of the depth image; in the present invention, each of the electrical signals is the sum of the electrical signal tapA and the electrical signal tapB. The electrical signals tapA and tapB are collected by two different capacitors at the same time. Compared with using only tapA or tapB, the accuracy of motion blur can be improved, and the robustness of the present invention to the temporal noise of a single capacitor is improved, thereby reducing the possibility of misjudgment and missed judgment, and ensuring that motion blur areas can be effectively identified in more scenarios.

[0082] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be apparent to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0083] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A depth camera, applied to a 2-tap, 4-phase TOF camera, characterized in that: Includes the following modules: A light projection module, used to project a light beam toward a target object in the scene; an optical receiving module, configured to receive, through at least four receiving windows, an optical signal formed after the light beam is reflected by the target object, so as to collect at least a first electrical signal, a second electrical signal, a third electrical signal, and a fourth electrical signal at each pixel point according to a preset equally spaced phase difference; a control module, configured to determine a proportional factor based on a ratio of a sum of the values of the first and third electrical signals to a sum of the values of the second and fourth electrical signals, and determine whether the proportional factor is within a preset threshold range; and when the proportional factor is within the preset threshold range, determine that the pixel is motion blurred; Each of the electrical signals is the sum of the electrical signal tapA and the electrical signal tapB; the electrical signal tapA is collected through a first capacitor, and the electrical signal tapB is collected through a second capacitor; the phase difference between the signal receiving time windows of the first capacitor and the second capacitor is 180°.

2. The depth camera according to claim 1, wherein The light projection module includes a light source, a light source driver and a light modulator; The light source driver is connected to the light source and is used to drive the light source to emit light; The light modulator is connected to the light source and is used to modulate the light projected by the light source into a sinusoidal wave beam and then project it toward the target object to be measured.

3. The depth camera according to claim 1, wherein: The light receiving module includes a lens, a filter and an image sensor arranged along the light path, and the image sensor is provided with at least four receiving windows; The image sensor is used to receive the optical signal through at least four receiving windows; the at least four receiving windows are arranged in sequence at equal intervals in time, and then generate the first electrical signal, the second electrical signal, the third electrical signal and the fourth electrical signal according to the optical signal received by each receiving window.

4. The depth camera according to claim 1, wherein Determining the scaling factor comprises the following steps: Step M1: Calculate the sum of the first electrical signal and the third electrical signal, that is, Sum0+Sum 180 , the first electrical signal Sum0 represents an electrical signal with a phase angle of 0, the third electrical signal Sum 180 Represents an electrical signal with a phase angle of 180; Step M2: Calculate the sum of the second electrical signal and the fourth electrical signal, that is, Sum 90 +Sum 270 , the second electrical signal Sum 90 Indicates that the phase angle is 90 degrees. The third electrical signal Sum 270 Represents an electrical signal with a phase angle of 270; Step M3: Generate a proportional factor ratio, where ratio = (Sum0 + Sum 180 ) / (Sum 90 +Sum 270 ).

5. The depth camera according to claim 3, wherein: Determining the scaling factor comprises the following steps: Step N1: Calculate the sum of the values of the first electrical signal A, the first electrical signal B, the third electrical signal A, and the third electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by receiving the first light beam is received. Indicates that the phase angle of the received second light beam is 0, and the third electric signal Indicates that the electrical signal with a phase angle of 180° formed by the second light beam is received, 75 MHz represents the frequency of the first light beam, and 100 MHz represents the frequency of the second light beam; Step N2: Calculate the sum of the values of the second electrical signal A, the fourth electrical signal A, the second electrical signal B, and the fourth electrical signal B, that is, The first electrical signal Indicates that the phase angle of the first light beam is 90 degrees, and the third electric signal Indicates that the phase angle of the first light beam is 270 degrees, and the first electric signal Indicates that the phase angle of the second light beam is 90 degrees, and the third electric signal Indicates that the electrical signal with a phase angle of 270° is received by the second light beam; Step N3: Generate the scaling factor ratio, in, 6. The depth camera according to claim 1, wherein: When removing the motion blur, the following steps are included: Step S1: When a pixel point has motion blur, the pixel value of the pixel point is set to a first value, otherwise it is set to a second value, to generate a first binary image; Step S2: performing a dilation operation on the first binary image to remove isolated pixels to generate a second binary image; Step S3: Acquire a depth image, align the depth image with the second binarized image at the pixel level, and set the depth values of the pixels in the second binarized image with the first value and the corresponding positions in the depth image to 0 to remove motion blur.

7. The depth camera according to claim 5, wherein: The first electrical signal A is an electrical signal with a phase angle of 0, the second electrical signal A is an electrical signal with a phase angle of 90, the third electrical signal A is an electrical signal with a phase angle of 180, and the fourth electrical signal A is an electrical signal with a phase angle of 270; the first electrical signal B is an electrical signal with a phase angle of 0, the second electrical signal B is an electrical signal with a phase angle of 90, the third electrical signal B is an electrical signal with a phase angle of 180, and the fourth electrical signal B is an electrical signal with a phase angle of 270.

8. The depth camera according to claim 4, wherein: The first electrical signal is an electrical signal with a phase angle of 0, the second electrical signal is an electrical signal with a phase angle of 90, the third electrical signal is an electrical signal with a phase angle of 180, and the fourth electrical signal is an electrical signal with a phase angle of 270.

9. The depth camera according to claim 1, wherein: The electrical signal tapB is an inverted signal of the electrical signal tapA. The electrical signal tapB and the electrical signal tapA are voltage signals, charge amounts, or pixel values.

Images