Mono Camera Stereo System Structured Light Projector Calibration
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Solution Overview
Problem
The mono camera stereo system faces limitations in mounting flexibility and accuracy for structured light projectors, restricting its usage due to dependency on precise alignment, which increases production costs and system size.
Innovation Solution
A method and apparatus that include a processor configured to generate reference and target images, perform disparity operations, and build a disparity angle map, allowing for flexible mounting calibration of structured light projectors by measuring disparity angles and using regression algorithms to correct and generate a complete disparity angle map, independent of ideal mounting restrictions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If precise alignment of structured light projector is required, then measurement accuracy is improved, but device complexity and production cost increase
Solution Approach 1:
The system performs preliminary calibration by capturing images at two different distances to pre-calculate disparity angles and build a disparity angle map before actual depth measurement. This preliminary action eliminates the need for precise mounting alignment during operation, resolving the contradiction between measurement accuracy and mounting complexity
Solution Approach 2:
The patent changes the approach from requiring fixed geometric parameters (precise mounting angles and positions) to calculating dynamic disparity angles based on captured images. By using parameter changes from fixed alignment requirements to flexible angle calculations, the system maintains measurement accuracy while reducing mounting complexity
2Measurement precision
If precise mounting alignment is required, then disparity measurement accuracy is improved, but ease of manufacture deteriorates
Solution Approach 1:
The system performs self-calibration by automatically capturing images and calculating disparity angles without requiring manual alignment adjustment. This self-service approach simplifies the manufacturing process and reduces production costs while maintaining measurement accuracy through automated calibration procedures
3Measurement precision
If dual camera stereo system is used, then measurement accuracy is improved, but device complexity and size increase
Solution Approach 1:
The patent makes a single camera perform multiple functions: capturing both the structured light pattern and performing stereo depth measurement. By using the same camera for both structured light decoding and disparity calculation, the system achieves dual-camera-level measurement accuracy with single-camera simplicity, resolving the contradiction between measurement precision and device complexity
Data Source
AI summary
An apparatus includes an interface and a processor. The interface may be configured to receive pixel data. The processor may be configured to (i) generate a reference image and a target image from said pixel data, (ii) perform disparity operations on the reference image and the target image, and (iii) build a disparity angle map in response to the disparity operations. The disparity operations may comprise (a) selecting a plurality of grid pixels, (b) measuring a disparity angle for each grid pixel, (c) calculating a plurality of coefficients by resolving a surface formulation for a disparity angle map of the grid pixels, and (d) generating values in a disparity angle map for the pixel data utilizing the coefficients.