Large-view-field depth measuring system and method based on omni-directional structured light

Abstract

The invention discloses a large-view-field depth measuring system and method based on omni-directional structured light. The system comprises a camera, a hyperboloid reflector, at least four projectors, a three-axis moving platform and a computer, wherein the projectors and the camera are respectively and fixedly arranged on the three-axis moving platform; the projectors are uniformly distributed around the camera; the three-axis moving platform can move along an x axis, a y axis and a z axis; coding structured light projected by the projectors irradiates a measured scene target object, is reflected by the hyperboloid reflector and then enters the camera for imaging; the formed image is acquired and processed by the computer to obtain scene depth information. By adoption of the hyperboloid reflector to reflect for imaging, the view field range of the camera is widened; by combining the large-view-field depth measurement with visual measurement of the structured light, visual three-dimensional perceived measurement of a wide view field is realized; the system is simple in structure and high in practicality; the measurement task can be finished by the camera and the projectors without perfect alignment; the calibration of the camera and the projectors is finished by adopting a plane white board; the simplicity in operation and higher calibration precision are realized.

Description

technical field [0001] The invention belongs to the technical field of measurement, and in particular relates to a large field of view depth measurement system and method based on omnidirectional structured light. Background technique [0002] Stereo vision is a key technology in the field of robot vision, that is, a method to obtain three-dimensional information of a target from two or more observation images of the same scene. The purpose of stereo vision is to establish a three-dimensional model of the observed scene based on the measured image information. Visual perception in psychology allows us to know that two-dimensional images themselves contain rich three-dimensional information, the most important of which is depth information, so depth perception and measurement are the research basis of stereo vision. It mainly studies how to use the machine vision system to simulate, extend and expand the human visual perception ability, so that the robot can effectively inte...

AI Technical Summary

Problems solved by technology

However, the current structured light technology generally obtains a small field of view. One shot can only obtain scattered information in the space, and it is impossible to have a comprehensive perception of the scene, which limits the application and development of this technology.

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