Camera Image Correction via Speckle Projection Alignment
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Solution Overview
Problem
Existing depth map estimation methods using speckle structured light projection with a monocular camera face accuracy issues due to installation errors in the relative position of the camera and speckle projector, which deviate from the required parallel and aligned orientation.
Innovation Solution
An image correction method that captures speckle patterns on two planes at different distances, matches the images to obtain sub-pixel matching points, computes a mapping matrix to align the camera's coordinate axis with the speckle projector's direction vector, and updates the imaging matrix to correct the image, ensuring accurate depth map estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera and speckle projector are arranged in parallel with aligned orientation to ensure matching accuracy, then depth map estimation accuracy is improved, but installation complexity and difficulty increase due to strict positioning requirements
Solution Approach 1:
The patent performs preliminary calibration by capturing images of a calibration board at multiple orientations (0°, 45°, 90°, 135°) before actual depth measurement. This preliminary action establishes the actual relative position and orientation parameters between the camera and speckle projector, allowing the system to compensate for installation deviations and achieve accurate depth estimation without requiring strict parallel alignment during installation.
2Measurement precision
If strict parallel alignment between camera and speckle projector is enforced to improve matching accuracy, then depth estimation precision is improved, but device complexity increases due to additional alignment constraints
Solution Approach 1:
The patent changes the approach from enforcing geometric constraints (parallel alignment) to measuring and compensating for actual parameters. By capturing calibration images at different orientations and computing the actual relative position and orientation parameters, the system adapts to the real installation configuration, eliminating the need for strict structural constraints and reducing device complexity.
3Measurement precision
If the camera and speckle projector are positioned to meet parallel alignment requirements, then depth map accuracy is improved, but installation time increases due to precise positioning requirements
Solution Approach 1:
The patent performs preliminary calibration actions by capturing images at multiple predetermined orientations (0°, 45°, 90°, 135°) during the installation phase. This preliminary calibration establishes the actual relative positioning parameters, allowing the system to quickly adapt to the installed configuration without requiring time-consuming precise alignment adjustments, thereby reducing installation time while maintaining depth map accuracy.
Data Source
AI summary
An image correction method includes: capturing speckle patterns on two planes at different distances to obtain a first image of speckle projected on a first plane and a second image of speckle projected on a second plane; matching the first image with the second image to obtain sub-pixel matching points; obtaining, based on first physical coordinates of the sub-pixel matching points on the first image and second physical coordinates of the sub-pixel matching points on the second image, a mapping matrix between the first and second physical coordinates; obtaining a direction vector of a center of the speckle projector in a camera reference frame according to the mapping matrix; adjusting coordinate axis directions of the camera reference frame to align a horizontal axis direction with the direction vector, updating an imaging matrix of the camera; and mapping a target scene image through the imaging matrix to obtain a corrected image.