Vertical Depth Perception Apparatus Eliminates Edge Cavitation
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Solution Overview
Problem
Existing three-dimensional depth perception apparatuses with horizontal configurations suffer from cavitation issues at the side edges of objects, leading to inaccurate depth mapping and object identification, especially when objects move horizontally, due to the blocking of laser patterns, which affects human-machine interaction processes.
Innovation Solution
A structured light encoding-based vertical depth perception apparatus is designed with a laser pattern projector, an infrared receiving camera, and an RGB receiving camera aligned vertically, along with a depth perception module that performs image pre-processing, block match disparity computation, and depth computation to generate a high-resolution depth map, thereby eliminating cavitation at side edges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a horizontal configuration is used for the laser projector and receiving camera, then the device structure is simple and easy to manufacture, but cavitation occurs at the side edges of objects leading to inaccurate depth mapping
Solution Approach 1:
The patent transitions from a horizontal baseline configuration to a vertical baseline configuration, changing the spatial dimension of the apparatus. This dimensional change allows the laser projector and receiving camera to be arranged vertically, which eliminates the cavitation problem at side edges that occurs in horizontal configurations, thereby improving depth mapping accuracy while maintaining structural simplicity
2Ease of operation
If a horizontal configuration is used for the laser projector and receiving camera, then the alignment process is simple, but object identification is inaccurate due to cavitation at side edges
Solution Approach 1:
By changing from horizontal to vertical arrangement, the patent eliminates cavitation at side edges that causes identification failures. The vertical configuration ensures complete coverage of objects including their edges, improving object identification reliability while keeping the alignment process straightforward through the use of vertical alignment markers
3Area of stationary object
If the receiving camera is disposed at the left or right side of the laser projector, then the device layout is compact, but cavitation phenomenon becomes more apparent at closer distances
Solution Approach 1:
The patent repositions the receiving camera from a horizontal side position to a vertical position (above or below the laser projector). This vertical arrangement eliminates cavitation at side edges even at close distances, improving depth perception accuracy while maintaining a compact device layout through the vertical stacking of components
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
The vertical configuration of the apparatus prevents cavitation at side edges, enabling accurate and precise depth mapping and object identification, enhancing human-machine interaction by ensuring uniform extraction of objects in both depth and RGB video maps.
Implementation Method 1
projecting, by infrared laser, an image of fixed mode onto an object surface for encoding
Implementation Method 2
acquiring, by an image sensor, an infrared-encoded image
Data Source
AI summary
The present invention discloses a structured light encoding-based vertical depth perception apparatus, the apparatus comprising: a laser pattern projector, an infrared receiving camera, a RGB receiving camera, and a depth perception module; the laser pattern projector, the RGB receiving camera, and the infrared receiving camera are disposed along a straight line vertical to a horizontal plane; the laser pattern projector is for projecting a laser encoded pattern; the infrared receiving camera is for consecutively acquiring the encoded patterns and generating an input encoded image sequence; the RGB receiving camera is for acquiring RGB video stream; and the depth perception module is for generating a depth map sequence. The apparatus according to the present invention may not only generate high-resolution and high-precision depth information in real-time, and but also solve the cavity issue existing at the horizontal direction edge of the to-be-measured object when a horizontal depth perception device performs a depth measurement; besides, it facilitates uniform extraction of the depth map sequence and the to-be-measured object in the RGB video stream.