Zoom depth camera and indication system based on optical zoom RGB lens
Through the combination of an optical zoom RGB lens and a fixed-focus depth camera, the problem that existing fixed-focus depth cameras cannot adjust the image is solved, real-time acquisition of zoom image depth information is achieved, adaptability and application range are improved, and the needs of three-dimensional spatial indication are met.
Patent Information
- Application Number
- CN202422392813.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-09-29
AI Technical Summary
Existing fixed-focus depth cameras cannot adjust the enlargement or reduction of images according to application scenarios, and cannot obtain thinner, farther and clearer image depth information at the same time, limiting their application in three-dimensional spatial indications.
The optical zoom RGB lens is combined with a fixed-focus depth camera. Through the combination of the optical zoom RGB lens, a fixed-focus RGB lens and multiple depth lenses, the image is enlarged or reduced, and the depth information of the zoom image is obtained in real time.
It realizes the real-time and accurate acquisition of the changed image depth when observing a specific object, improves the adaptability and maneuverability of the zoom depth camera, expands the application range, and meets the needs of obtaining thinner, farther and clearer images.
Smart Images
Figure CN223168356U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of three-dimensional space indication, in particular to a zoom depth camera and an indication system based on an optical zoom RGB lens. Background Technique
[0002] A depth camera, also known as a 3D camera, has the functions of collecting color images and measuring the depth of three-dimensional space. By calibrating the depth information of each pixel point on the color image through a certain algorithm, it can be widely used in mobile phones, robots, drones, logistics, VR / AR, smart homes, security, automotive driving assistance and other fields.
[0003] The existing methods for obtaining three-dimensional space depth information through image recognition mainly include the following several types:
[0004] 1) Binocular stereo vision: Capturing images from different angles through two cameras and calculating the distance using parallax. This method works well under natural light and has a low cost, but has a poor matching effect on surfaces without texture and a large amount of calculation;
[0005] 2) Structured light: Calculating the depth by projecting light with a known pattern and capturing its deformation. This method has a high measurement accuracy for short distances, but the accuracy decreases at long distances and is greatly affected by ambient light;
[0006] 3) Time of flight (ToF): Determining the distance by measuring the flight time of light pulses. This method can measure long distances and is less affected by surface characteristics, but is greatly affected by ambient light intensity and reflective surfaces;
[0007] 4) Monocular depth estimation: Learning depth information from a single image through a monocular camera combined with a deep learning algorithm. This method does not require additional hardware, but requires a large amount of training data and has a low ability to distinguish surfaces without texture and similar objects;
[0008] 5) Three-dimensional reconstruction based on deep learning: Processing three-dimensional images through a deep convolutional neural network (DCNN) and three-dimensional convolutional operations. This method is applicable to fields such as medical image processing and three-dimensional shape recognition.
[0009] In the aspect of three-dimensional space indication, the binocular stereo vision method is usually adopted. The binocular depth camera set based on this method consists of two fixed-focus stereo cameras and one fixed-focus color camera. Generally, the foci of the three cameras are set on the same horizontal line, and the focal lengths of the two stereo cameras are the same. Since the color RGB lens for acquiring images in this setting method is fixed-focus, it is only suitable for close-range viewing and cannot be adjusted according to the application scenario, that is, it cannot perform magnification and reduction adjustments on the image of the viewing object and obtain the depth information of the pixel points on the image based on the adjusted image. Therefore, it cannot meet the requirement of obtaining the depth information of the pixel points on the image while viewing a finer, farther, and clearer image for positioning and indication. Summary of the Invention
[0010] Based on this, the purpose of the present utility model is to provide a zoom depth camera based on an optical zoom RGB lens.
[0011] A zoom depth camera based on an optical zoom RGB lens, comprising:
[0012] A fixed-focus RGB lens for acquiring fixed-focus images;
[0013] N depth lenses for acquiring the depths corresponding to each pixel point or pixel block of the fixed-focus image, where N≥2;
[0014] An optical zoom RGB lens for acquiring zoom images;
[0015] The fixed-focus RGB lens, the depth lenses and the optical zoom RGB lens have the same field of view direction and parallel axes, and the fixed-focus RGB lens and the depth lenses are set to form a multi-baseline fixed-focus depth camera.
[0016] Compared with the prior art, by adding an optical zoom RGB lens on the basis of the existing fixed-focus depth camera, and setting the relative position of the optical zoom RGB lens and the fixed-focus depth camera, the depth information of the fixed-focus image obtained by the fixed-focus depth camera can be converted into the depth information of the zoom image in a simpler way, and the depth of the image after change can be obtained in real time and accurately when magnifying or reducing and observing a specific object, meeting the user's need to obtain the depth information of the pixel points on the image while viewing a finer, farther, and clearer image, better fitting the indication requirements of the positioning and indication application scenarios, improving the adaptability and mobility of the zoom depth camera, and having a wide range of application scenarios. At the same time, by setting multiple depth lenses, 2 appropriate depth lenses can be selected to measure the depth according to the distance of the observation object, expanding the application range of the zoom depth camera.
[0017] Further, N = 2, including a first depth lens and a second depth lens. The first depth lens, the fixed-focus RGB lens, and the second depth lens are arranged in sequence on a straight line, and the focal lengths of the first depth lens and the second depth lens are fixed and the same.
[0018] Further, the optical zoom RGB lens is fixedly arranged between the first depth lens and the second depth lens and is adjacent to the fixed-focus RGB lens. The first depth lens, the optical zoom RGB lens, the fixed-focus RGB lens, and the second depth lens are arranged in sequence on a straight line.
[0019] Further, the optical zoom RGB lens is fixedly arranged between the first depth lens and the second depth lens and is adjacent to the fixed-focus RGB lens. The first depth lens, the fixed-focus RGB lens, the optical zoom RGB lens, and the second depth lens are arranged in sequence on a straight line.
[0020] Further, the fixed-focus RGB lens, the optical zoom RGB lens, the first depth lens, and the second depth lens are in the same three-dimensional coordinate system, and the origin O of the three-dimensional coordinate system coincides with the focus of the fixed-focus RGB lens, and the Z-axis is perpendicular to the imaging plane of the fixed-focus RGB lens.
[0021] Further, the optical zoom RGB lens is an RGB lens that realizes continuous zoom by being driven by an electric motor.
[0022] Further, the optical zoom RGB lens is composed of a plurality of fixed-focus RGB lenses with different focal lengths combined in a specific manner. By selecting RGB lenses with different focal lengths, a discontinuous zoom RGB lens is realized.
[0023] Further, it further includes a pan-tilt head or a robotic arm. The fixed-focus RGB lens, the two depth lenses, and the optical zoom RGB lens are arranged on the pan-tilt head or the robotic arm.
[0024] On the other hand, the present invention provides an indication system applying the above-mentioned zoom depth camera based on an optical zoom RGB lens. The indication system further includes an indication unit, and the indication unit indicates a target indicator in three-dimensional space according to the depth information of the zoom RGB image transmitted by the zoom depth camera based on the optical zoom RGB lens.
[0025] Compared with the prior art, the beneficial effects of the indication system of the present invention are the same as those of the zoom depth camera based on the optical zoom RGB lens, and will not be elaborated here.
[0026] For better understanding and implementation, the present invention will be described in detail below with reference to the accompanying drawings. Description of the Drawings
[0027] Figure 1Schematic structural diagram of the zoom depth camera of the present utility model;
[0028] Figure 2 Simplified structural diagram of an embodiment of the present utility model. Detailed implementation manners
[0029] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings of the embodiments of the present utility model.
[0030] Please refer to Figure 1 , a zoom depth camera based on an optical zoom RGB lens proposed by the present utility model includes a fixed-focus RGB lens 10, an optical zoom RGB lens 20, two depth lenses 30, and a processor 40 electrically connected and / or communicatively connected to the fixed-focus RGB lens 10, the optical zoom RGB lens 20, and the two depth lenses 30. The fixed-focus RGB lens 10, the zoom RGB lens 20, and the two depth lenses 30 have the same field of view direction and parallel axes, and the fixed-focus RGB lens 10 and the two depth lenses 30 form a fixed-focus RGB lens image depth acquisition unit.
[0031] Specifically, the resolution and field of view angle of the fixed-focus RGB lens 10 are determined according to the requirements of the application scenario. For application scenarios with high precision requirements and clear images, a fixed-focus RGB camera with high pixels and high resolution is selected.
[0032] The optical zoom RGB lens 20 is relatively fixed and adjacent to the fixed-focus RGB lens 10 in terms of spatial setting position, and has the same field of view direction and parallel axes as the fixed-focus RGB lens 10. When setting the adjacent spatial positions of the fixed-focus RGB lens 10 and the optical zoom RGB lens 20, the two RGB lenses are arranged side by side and adjacent as closely as possible according to the selected lens model. The optical zoom ratio, resolution, and field of view angle of the optical zoom RGB lens 20 are jointly determined according to the requirements of the application scenario and the selected fixed-focus RGB lens 10.
[0033] In one implementation, the optical zoom RGB lens 20 can be selected as an RGB lens that realizes continuous zoom by being driven by an electric motor.
[0034] In another embodiment, please refer to Figure 2 , the optical zoom RGB lens 20 can also be selected as being composed of a plurality of fixed-focus RGB lenses with different focal lengths in a specific manner. For example, the optical zoom RGB lens 20 is composed of 2 fixed-focus RGB lenses, namely a first focal length fixed-focus RGB lens 20A and a second focal length fixed-focus RGB lens 20B. By selecting RGB lenses with different focal lengths, a discontinuous zoom RGB lens is realized.
[0035] The two depth lenses 30 are respectively a first depth lens 31 and a second depth lens 32. The first depth lens 31, the fixed-focus RGB lens 10, and the second depth lens 32 are arranged in sequence on a straight line, and the focal lengths of the first depth lens 31 and the second depth lens 32 are fixed and the same. The first depth lens 31, the second depth lens 32, and the fixed-focus RGB lens 10 form a fixed-focus RGB lens image depth acquisition unit. At the same time, multiple depth lenses can be set, and two appropriate depth lenses can be selected to measure the depth according to the distance of the observation object, so as to expand the application range of the zoom depth camera.
[0036] The fixed-focus RGB lens 10, the optical zoom RGB lens 20, and the two depth lenses 30 are in the same three-dimensional coordinate system, and the origin O of the three-dimensional coordinate system coincides with the focus of the fixed-focus RGB lens 10, and the Z axis is perpendicular to the imaging plane of the fixed-focus RGB lens 10.
[0037] The processor 40 acquires the parameters and image data of the above lenses, and performs depth calculation based on the parameters and image data. Commonly used central processing units CPU, graphics processing units GPU, image signal processors ISP, etc. can all be used, and this application does not make restrictions.
[0038] The above zoom depth camera based on the optical zoom RGB lens is installed on a pan-tilt or robotic arm, and can change the field of view to be indicated as it rotates with the pan-tilt or robotic arm.
[0039] When the zoom depth camera provided by this application is working, the fixed-focus RGB lens of the zoom depth camera captures a fixed-focus image, and combines the two depth lenses to obtain the depth information of each pixel or pixel block in the fixed-focus image; the optical zoom RGB lens captures a zoom image, and uses a related algorithm to map the depth information corresponding to each pixel or pixel block in the fixed-focus image to the pixel or pixel block in the zoom image, so as to obtain the depth information of the zoom image. When using a related algorithm for association, the following algorithm can be used: extract the image features of the fixed-focus image captured by the fixed-focus GRB lens and combine the depth of the pixel points to obtain the corresponding depth of the feature points of the fixed-focus image, and obtain the fixed-focus image feature-depth mapping set; extract the image features of the zoom image captured by the optical zoom RGB lens to obtain the zoom image feature set; perform image feature matching on the fixed-focus image features and the zoom image features, and combine the fixed-focus image feature-depth mapping set to obtain the zoom image feature-depth mapping set and obtain the depth information of the pixel points of the zoom image.
[0040] Meanwhile, based on the above zoom depth camera with an optical zoom RGB lens, the present utility model further provides an indication system applying the zoom depth camera with an optical zoom RGB lens. The indication system includes an indication unit, which gives a red light or green light indication to a target indicator in a three-dimensional space according to the depth information of the zoom image transmitted by the zoom depth camera with an optical zoom RGB lens.
[0041] Further, the indication unit is also arranged on a pan-tilt head or a robotic arm and rotates synchronously with the zoom depth camera with an optical zoom RGB lens.
[0042] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. The singular forms "a" and "the" used in the embodiments of the present application and the appended claims are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that unless otherwise stated, "a plurality of" and "several" mean two or more; "and / or" means any or all possible combinations including one or more of the associated listed items; "first", "second", "third", etc. are only used for distinction and not for describing a specific order or sequence, nor can they be understood as indicating or implying relative importance.
[0043] The above embodiments only represent several implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and the present utility model also intends to include these modifications and improvements.
Claims
1. A zoom depth camera based on an optical zoom RGB lens, characterized in that, Comprising: A fixed-focus RGB lens for acquiring fixed-focus images; N depth lenses for acquiring the depth corresponding to each pixel or pixel block of the fixed-focus image, where N ≥ 2; An optical zoom RGB lens for acquiring zoom images; The field of view directions of the fixed-focus RGB lens, the depth lenses, and the optical zoom RGB lens are the same and their axes are parallel. The fixed-focus RGB lens and the depth lenses are arranged to form a multi-baseline fixed-focus depth camera.
2. The zoom depth camera based on an optically zoomed RGB lens according to claim 1, wherein, When N = 2, it includes a first depth lens and a second depth lens. The first depth lens, the fixed-focus RGB lens, and the second depth lens are arranged in sequence on a straight line, and the focal lengths of the first depth lens and the second depth lens are fixed and the same.
3. The zoom depth camera based on an optical zoom RGB lens according to claim 2, wherein, The optical zoom RGB lens is fixedly arranged between the first depth lens and the second depth lens and is adjacent to the fixed-focus RGB lens. The first depth lens, the optical zoom RGB lens, the fixed-focus RGB lens, and the second depth lens are arranged in sequence on a straight line.
4. The zoom depth camera based on an optical zoom RGB lens according to claim 2, wherein The optical zoom RGB lens is fixedly arranged between the first depth lens and the second depth lens and is adjacent to the fixed-focus RGB lens. The first depth lens, the fixed-focus RGB lens, the optical zoom RGB lens, and the second depth lens are arranged in sequence on a straight line.
5. The zoom depth camera based on an optical zoom RGB lens according to claim 3 or 4, characterized in that The fixed-focus RGB lens, the optical zoom RGB lens, the first depth lens, and the second depth lens are in the same three-dimensional coordinate system, and the origin O of the three-dimensional coordinate system coincides with the focus of the fixed-focus RGB lens, and the Z-axis is perpendicular to the imaging plane of the fixed-focus RGB lens.
6. The zoom depth camera based on an optical zoom RGB lens according to claim 1, characterized in that, The optical zoom RGB lens is an RGB lens that realizes continuous zoom by being driven by an electric motor.
7. The zoom depth camera based on an optically zoomed RGB lens according to claim 1, wherein The optical zoom RGB lens is composed of multiple fixed-focus RGB lenses with different focal lengths combined in a specific manner. By selecting RGB lenses with different focal lengths, a discontinuous zoom RGB lens is realized.
8. The zoom depth camera based on an optically zoomed RGB lens according to any one of claims 1, 2, 3, 4, 6, and 7, characterized in that, It further includes a pan-tilt head or a robotic arm, and the fixed-focus RGB lens, the two depth lenses, and the optical zoom RGB lens are arranged on the pan-tilt head or the robotic arm.
9. An indication system, characterized in that, It includes an indicating unit and a zoom depth camera based on an optical zoom RGB lens as described in any one of claims 1 to 8. The indicating unit indicates a target indicator in three-dimensional space according to the depth information of the zoom RGB image transmitted by the zoom depth camera based on the optical zoom RGB lens.
10. The indication system according to claim 9, characterized in that, The indicating unit and the zoom depth camera based on the optical zoom RGB lens are both arranged on the pan-tilt head or the robotic arm, and the indicating unit and the zoom depth camera based on the optical zoom RGB lens rotate synchronously.