Structured Light Projection Head for Depth Data Fusion
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Solution Overview
Problem
Current 3D imaging technologies face challenges in achieving high-quality depth data measurement with low failure rates and fast frame intervals due to limitations in structured light projection and binocular sensor coordination.
Innovation Solution
An improved structured light projection apparatus that projects patterns at different angles using a light source device and a steering projector, combined with binocular sensors sharing an optical path, to enhance projection flexibility and depth data fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the sampling window is increased to improve matching accuracy, then the matching reliability is improved, but the depth image granularity becomes coarser and measurement precision deteriorates
Solution Approach 1:
The patent divides the sampling process into multiple stages: first performs coarse matching with a large sampling window to ensure reliability, then performs fine matching with a small sampling window around the coarse match result to achieve fine granularity. This multi-stage segmentation approach resolves the contradiction by applying different window sizes at different processing stages.
Solution Approach 2:
The patent performs preliminary coarse matching before fine matching. The coarse matching with large sampling window provides a preliminary result that guides the subsequent fine matching process, allowing the system to achieve both high reliability and fine precision without requiring multiple full-resolution captures.
2Measurement precision
If the sampling window is decreased to improve depth image granularity, then the measurement precision is improved, but the false matching rate increases and reliability deteriorates
Solution Approach 1:
The matching process is segmented into coarse matching (large window) followed by fine matching (small window). The coarse stage ensures reliability by using sufficient context, while the fine stage achieves precision by focusing only on the localized area around the coarse match, avoiding false matches that would occur if small windows were used globally.
Solution Approach 2:
Coarse matching is performed as a preliminary step to identify candidate regions before fine matching. This preliminary action with large sampling windows establishes reliable candidate positions, allowing subsequent fine matching with small windows to operate only in validated regions, thus maintaining both precision and reliability.
3Measurement precision
If multiple sets of images are captured successively to reduce sampling window size, then the measurement precision is improved, but the system complexity increases and productivity decreases
Solution Approach 1:
The patent merges coarse matching and fine matching into a single processing pipeline that operates on a single captured image pair. The coarse and fine matching steps are combined sequentially in one processing flow, eliminating the need for multiple separate image capture sequences and maintaining high frame rate while achieving fine precision.
Solution Approach 2:
The coarse matching serves as a preliminary processing step that prepares the data for fine matching within the same image pair. This preliminary action enables the system to achieve fine granularity without requiring additional image captures, thus maintaining high productivity and frame rate.
4Reliability
If a larger sampling window is used to improve matching reliability, then fewer false matches occur, but the amount of computation increases and processing time deteriorates
Solution Approach 1:
The computation is segmented into two stages: coarse matching with large windows processes the entire image to establish reliable candidate positions, then fine matching with small windows processes only localized regions. This segmentation reduces total computation time compared to using large windows throughout, while maintaining reliability through the initial coarse stage.
Solution Approach 2:
Coarse matching is performed as a preliminary step to identify candidate regions before fine matching. This preliminary computation with large windows establishes reliable search areas, allowing subsequent fine matching to operate only in these limited regions, thus reducing overall processing time while maintaining the reliability benefits of large-window matching.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables faster, more economical, and accurate depth data measurement with reduced failure rates and improved frame intervals, enhancing the quality of depth data fusion.
Implementation Method 1
an improved structured light projection apparatus that can reflect the structured light generated by the light source device at different angles
Implementation Method 2
the first and second image sensors respectively arranged on both sides of the structured light projection, the first and second image sensors having a predetermined relative spatial position relationship and imaging the measured space
Data Source
AI summary
A depth data measuring head (600, 700) comprising: a structured light projection apparatus (110, 610, 710) used for projecting, under the drive of a driving apparatus (114, 314) and at different projection angles, a beam having a texture to a measured space so as to form different textures on an object to be measured; and first and second image sensors (620, 630; 720, 730) that are respectively arranged on both sides of the structured light projection apparatus (110, 610, 710), the first and second image sensors having a predetermined relative spatial position relationship and imaging the measured space at least twice so as to obtain at least two sets of images having different texture distributions, wherein the at least two sets of images are used for obtaining single-measurement depth data of the object to be measured. The structured light projection apparatus (110, 610, 710) that reflects, at different angles, structured light generated by a light source module (I) is used, so that rapid, economical and low-failure-rate multi-pattern projection is implemented. Furthermore, the structured light projection apparatus (110, 610, 710) matches multiple pairs of binocular sensors (723, 724; 733, 734) sharing a light path, thereby further shortening the frame interval and improving the quality of depth fusion data. Also disclosed is a depth data computing device and measurement method.