Binocular camera

Abstract

The binocular camera is characterized in that the binocular camera comprises a projector which is used for simultaneously projecting structured light spots in a polarization state and floodlight; wherein the light spot of the structured light is the same as the optical axis of the floodlight; the first receiver is used for receiving signals of the structured light spot and the floodlight; and the RGB receiver is used for generating an RGB image. Structured light and floodlight are projected at the same time through the projector, and a structured light image and a TOF image can be obtained at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of binocular cameras, and specifically, to a binocular camera. Background Art

[0002] A binocular camera refers to a camera with two cameras. There are various types of binocular cameras. One is to calculate depth using the parallax of two cameras to obtain depth information. Another is to use non-homologous binocular cameras, that is, two cameras of different types, to simultaneously obtain different types of images, thereby increasing the type of data and better obtaining information about the target object.

[0003] The disclosure of the above background art content is only used to assist in understanding the inventive concept and technical solution of the utility model, and it does not necessarily belong to the prior art of this patent application. Without clear evidence indicating that the above content was publicly available on the filing date of this patent application, the above background art should not be used to evaluate the novelty and inventiveness of this application. Summary of the Utility Model

[0004] For this reason, the utility model proposes a binocular camera to solve the problems in the prior art.

[0005] The utility model provides a binocular camera, which is characterized by comprising:

[0006] A projector for simultaneously projecting structured light spots and floodlight in a polarization state; wherein, the optical axes of the structured light spots and the floodlight are the same;

[0007] A first receiver for receiving the signals of the structured light spots and the floodlight;

[0008] An RGB receiver for generating an RGB image.

[0009] Optionally, the binocular camera is characterized by further comprising:

[0010] A second receiver for receiving the signals of the structured light spots and the floodlight;

[0011] A first polarizer located on the incident light path of the second receiver.

[0012] Optionally, the binocular camera is characterized by further comprising:

[0013] A third polarizer located on the incident light path of the first receiver;

[0014] The polarization directions of the first polarizer and the third polarizer are the same.

[0015] Optionally, in the binocular camera, the projector comprises:

[0016] A structured light source for emitting a structured light spot;

[0017] A second polarizer located on the optical path of the light emitted by the structured light source;

[0018] A phase plate located between the light source and the second polarizer for changing the polarization state of the passing light;

[0019] A reflecting mirror surface on the same side of the second polarizer as the light source for reflecting the structured light spot.

[0020] Optionally, in a binocular camera, the distance between the structured light source and the second polarizer is not greater than 1 cm.

[0021] Optionally, in a binocular camera, the distance between the phase plate and the second polarizer is not greater than 1 mm.

[0022] Optionally, in a binocular camera, the phase plate is a 1 / 8 wave plate or a random phase plate.

[0023] Optionally, in a binocular camera, it further includes:

[0024] A processor for performing live body recognition based on the speckle pattern generated by the first receiver, the RGB image, and the infrared image.

[0025] Optionally, in a binocular camera, the polarization direction of the light projected by the projector is different from the polarization direction of the first polarizer.

[0026] Optionally, in a binocular camera, the first receiver and the second receiver are symmetrically arranged around the projector.

[0027] Compared with the prior art, the present utility model has the following beneficial effects:

[0028] The present utility model projects a structured light spot and floodlight with a polarization state by a projector and uses a first receiver to receive them, so that the structured light and the floodlight have the same viewing angle and time, greatly reducing the amount of post-image processing and facilitating the efficient processing of quickly obtaining the structured light image and the floodlight image.

[0029] The present utility model uses a first receiver and an RGB receiver to receive different types of images, so that different types of images can be obtained for multi-dimensional analysis of the target object. Description of the Drawings

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0031] Figure 1 Schematic structural diagram of a binocular camera in an embodiment of the present invention;

[0032] Figure 2 Schematic structural diagram of a projector in an embodiment of the present invention;

[0033] Figure 3 Schematic structural diagram of another projector in an embodiment of the present invention;

[0034] Figure 4 Schematic structural diagram of another binocular camera in an embodiment of the present invention;

[0035] Figure 5 Schematic structural diagram of another binocular camera in an embodiment of the present invention;

[0036] Figure 6 Schematic structural diagram of another binocular camera in an embodiment of the present invention;

[0037] Figure 7 Schematic partial diagram of the light spot in an embodiment of the present invention.

[0038] 1 - Structured light source;

[0039] 2 - Second polarizer;

[0040] 3 - Phase plate;

[0041] 4 - Reflective mirror;

[0042] 5 - Glass;

[0043] 6 - Polarized projector;

[0044] 7 - Projector;

[0045] 8 - First receiver;

[0046] 9 - First polarizer;

[0047] 10 - RGB receiver;

[0048] 11 - Processor;

[0049] 12 - Second receiver;

[0050] 13 - Structured light dot matrix;

[0051] 14 - Floodlight;

[0052] 15 - Third polarizer; Detailed implementation mode

[0053] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made. These all belong to the protection scope of the present utility model.

[0054] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above-mentioned drawings of the present utility model are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present utility model described here, for example, can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0055] A binocular camera provided by an embodiment of the present utility model aims to solve the problems existing in the prior art.

[0056] The technical solution of the present utility model and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present utility model will be described below in conjunction with the drawings.

[0057] Figure 1 It is a structural schematic diagram of a binocular camera in an embodiment of the present utility model. As Figure 1 shown, a binocular camera in an embodiment of the present utility model includes:

[0058] A projector 7 for simultaneously projecting a structured light spot and floodlight in a polarization state.

[0059] Specifically, the optical axes of the structured light spot and the floodlight are the same. Different from the prior art where the structured light and the floodlight are switchably projected, in this embodiment, the structured light spot and the floodlight are projected simultaneously. Different from the prior art technical solution of simultaneously configuring a structured light projector and a floodlight projector, the optical axes of the structured light spot and the floodlight projected by the projector in this embodiment are the same, so they have the same projection position, which is more friendly for subsequent image processing. The structured light spot can be an encoded pattern of various structured lights such as speckle, stripe, etc. Preferably, both the structured light spot and the floodlight are infrared light.

[0060] A first receiver 8 for receiving signals of the structured light spot and the floodlight.

[0061] Specifically, the first receiver can simultaneously receive signals of the structured light spot and the floodlight, so that the received images have the same field of view angle, and the generated structured light image and floodlight image naturally have the characteristic of alignment, enabling accurate fusion and other processing of the structured light depth and the TOF depth.

[0062] An RGB receiver 10 for generating an RGB image.

[0063] Specifically, the RGB image is formed by visible light imaging, which has a different wavelength band from infrared light imaging. For the human body, the RGB image can obtain an image of the skin surface layer, such as a face surface image, a palm print, etc. While the infrared image may contain vein information. Therefore, the information contained in the RGB image and the infrared image may be different. By jointly processing the RGB image and the infrared image (structured light image or TOF image), the information dimension of the target object can be increased, and the accuracy of identifying the target object can be improved.

[0064] Figure 2 This is a schematic structural diagram of a projector in an embodiment of the present invention. As Figure 2 shown, a projector in an embodiment of the present invention includes:

[0065] A structured light source 1 for emitting a structured light spot.

[0066] Specifically, the structured light source can adopt any one of the structured light sources in the prior art to emit a structured light spot. In this embodiment, the structured light source is the only light source of the depth camera.

[0067] A second polarizer 2 located on the optical path of the light emitted by the structured light source.

[0068] Specifically, the second polarizer can be a polarizer with a single direction, or a polarizer with different polarization directions. Those skilled in the art can select a polarizer with appropriate polarization characteristics according to the specific application scenario. The second polarizer 2 makes all the emitted light of the projector have polarization characteristics.

[0069] A phase plate 3, located between the light source and the second polarizer, is configured to change the polarization state of the passing light.

[0070] Specifically, the phase plate 3 is used to change the polarization state of the light, so that the light that fails to penetrate the second polarizer can penetrate the second polarizer after changing its polarization state. The phase plate can be a random phase plate or a 1 / 8 wave plate. The phase plate changes the polarization state of the light, that is, modulates the phase of the polarization state, and does not affect the phase in the TOF technology, so it does not affect the TOF technology to obtain the TOF depth value.

[0071] When the phase plate is a random phase plate, the light reflected back by the second polarizer will turn into a random phase after passing through the random phase plate, so that 50% of the light that irradiates the second polarizer again can penetrate the second polarizer. The remaining light is reflected back by the second polarizer again. This cycle repeats, and the overall light output rate can reach 90%.

[0072] When the phase plate is a 1 / 8 wave plate, the light reflected back by the second polarizer will rotate its polarization state by 1 / 8 after passing through the 1 / 8 wave plate, and the polarization state will change by 90 degrees after passing through the 1 / 8 wave plate twice, so that it can penetrate the second polarizer after one reflection, and the overall light output rate can reach more than 95%. At the same time, using a 1 / 8 wave plate can reduce the number of reflections of light in the projector, reducing light loss.

[0073] A reflecting mirror 4, on the same side of the second polarizer as the light source, is configured to reflect the structured light spot.

[0074] Specifically, the reflecting mirror is used to change the direction of the light, so that the light reflected back by the second polarizer is directed towards the second polarizer again.

[0075] This embodiment enables the light blocked by the second polarizer to exit from the second polarizer after changing its polarization state, greatly improving the light output efficiency, reducing the light loss, improving the energy utilization efficiency, reducing the heat generation of the projector, and facilitating the long-term stable operation of the projector.

[0076] In some embodiments, the distance between the structured light source and the second polarizer is not greater than 1 cm.

[0077] In some embodiments, the distance between the phase plate and the second polarizer is not greater than 1 mm.

[0078] Figure 3 It is a schematic structural diagram of another projector in the embodiment of the present invention. As Figure 3 shown, another projector in the embodiment of the present invention includes a structured light dot matrix 13 and a floodlight 14.

[0079] The structured light dot matrix 13 is used to provide encoded structured light and obtain a structured light depth image. The structured light dot matrix 13 and the first receiver form a structured light system, which can perform structured light measurement to obtain structured light depth data.

[0080] The floodlight 14 is used to provide floodlight illumination and obtain a TOF depth image. The floodlight 14 and the first receiver form a TOF system, which can perform TOF measurement to obtain TOF depth data.

[0081] The structured light dot matrix is located in the center. The floodlights are located around the structured light dot matrix and form a closed ring to achieve uniform floodlight illumination. The center of the structured light dot matrix coincides with the center of the floodlights. For the image received by the first receiver, the pixel points irradiated by the structured light have higher brightness. Therefore, by extracting the image based on brightness, a structured light image can be obtained, and the whole image is regarded as a TOF image.

[0082] In this embodiment, by arranging the structured light dot matrix and the floodlights, structured light and floodlight can be projected simultaneously, or structured light or floodlight can be projected alone, which has higher freedom and can realize the selection of various application scenarios.

[0083] Figure 4 This is a schematic structural diagram of another binocular camera in the embodiment of the present invention. As Figure 4 shown, compared with the previous embodiment, another binocular camera in the embodiment of the present invention further includes:

[0084] A second receiver 12, which is used to receive the signals of the structured light spot and the floodlight.

[0085] Specifically, the first receiver and the second receiver are symmetrically arranged around the projector. The projector is located on the perpendicular bisector of the line connecting the first receiver and the second receiver. The signals received by the first receiver and the second receiver are the same, and their positional relationship with the projector is symmetric.

[0086] A first polarizer 9, which is located on the incident light path of the first receiver.

[0087] Specifically, after the light beam projected by the projector irradiates on the target object, the reflected light rays are directed towards the depth camera. After passing through the first polarizer, the photos are taken on the first receiver, so that the first receiver receives the structured light information and the floodlight signal, thereby generating a structured light image and a TOF image.

[0088] The polarization direction of the first polarizer and the polarization direction of the light projected by the projector can affect the information obtained and filter out the influence of stray light, thereby improving the signal-to-noise ratio. When the polarization direction of the first polarizer is perpendicular to the polarization direction of the light projected by the projector, if it irradiates on the skin, the information on the skin surface layer can be filtered out, and venous information such as blood vessels in the dermis layer can be obtained for palm vein recognition, face vein recognition, etc.

[0089] In some embodiments, compared with the first receiver, a polarizer is arranged in the incident direction of the second receiver. Therefore, the information received by the second receiver has a higher signal-to-noise ratio and a clearer image compared with the first receiver. The images generated by the first receiver and the second receiver are processed to obtain more information.

[0090] Figure 5 It is a schematic structural diagram of another binocular camera in an embodiment of the present invention. As Figure 5 shown, compared with the foregoing embodiments, another binocular camera in an embodiment of the present invention further includes:

[0091] A third polarizer 15, which is located on the incident light path of the first receiver.

[0092] Specifically, the polarization directions of the first polarizer and the third polarizer are the same. The size parameters of the third polarizer and the first polarizer are exactly the same. The third polarizer makes the light incident on the first receiver the same as the light incident on the second receiver, so that the images generated by the first receiver and the second receiver have better consistency.

[0093] This embodiment makes the signals received by the first receiver and the second receiver the same, so that the first receiver and the second receiver can form a binocular system, and thus the binocular depth can be calculated to increase the number of acquired depth data.

[0094] Figure 6 It is a schematic structural diagram of another binocular camera in an embodiment of the present invention. As Figure 6 shown, compared with the foregoing embodiments, another binocular camera in an embodiment of the present invention further includes:

[0095] A processor 11, which is used to perform live body recognition according to the speckle pattern, the RGB image, and the infrared image generated by the first receiver.

[0096] Specifically, live body recognition is a key step required in biometric recognition. As Figure 7As shown in the figure, a is a magnified partial light spot image of the target person; b is a magnified partial light spot image of the plaster target person; c is a magnified partial light spot image of the living target person; d is a magnified partial light spot image of the silicone target person. Different materials have differences in the optical imaging effect, and the speckles have different blooming effects. By training with multiple sets of speckle data, different materials can be distinguished, so that the living body judgment can be made more accurately.

[0097] In the present specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. 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 these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0098] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A binocular camera, characterized in that: include: A projector, used to simultaneously project a structured light spot and a flood light in polarized states; wherein the optical axes of the structured light spot and the flood light are the same; A first receiver, used for receiving the signal of the structured light spot and the flood light; RGB receiver, used to generate RGB images.

2. A binocular camera according to claim 1, characterized in that: Also includes: A second receiver, used for receiving the signal of the structured light spot and the flood light; The first polarizer is located on the incident light path of the second receiver.

3. A binocular camera according to claim 2, characterized in that: Also includes: a third polarizer, located on the incident light path of the first receiver; The polarization directions of the first polarizer and the third polarizer are the same.

4. A binocular camera according to claim 1, characterized in that: The projector comprises: A structured light source, used for emitting a structured light spot; A second polarizer is located on the light path of the structured light source; A phase plate, located between the light source and the second polarizer, for changing the polarization state of the light passing therethrough; A reflective mirror surface is located on the same side of the second polarizer as the light source and is used to reflect the structured light spot.

5. A binocular camera according to claim 4, characterized in that: The distance between the structured light source and the second polarizer is no more than 1 cm.

6. A binocular camera according to claim 4, characterized in that: The distance between the phase plate and the second polarizer is no greater than 1 mm.

7. A binocular camera according to claim 4, characterized in that: The phase plate is a 1 / 8 wave plate or a random phase plate.

8. The binocular camera according to claim 1, characterized in that: Also includes: A processor is used to perform living body recognition according to the speckle image, the RGB image and the infrared image generated by the first receiver.

9. A binocular camera according to claim 2, characterized in that: The polarization direction of the light projected by the projector is different from the polarization direction of the first polarizer.

10. A binocular camera according to claim 9, characterized in that: The first receiver and the second receiver are arranged symmetrically around the projector.

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