Depth information acquiring device and method on basis of TOF technology and binocular vision

Abstract

The invention discloses a depth information acquiring device and method on the basis of a TOF technology and binocular vision. The device comprises an active light source emitting device, a TOF sensor, left and right image sensors, a controller and a processor, wherein the active light source emitting device comprises a light source, a space modulation device and an imaging system which are arranged successively; the active light source emitting device and the TOF sensor are connected with the controller; and the TOF sensor, the left image sensor and the right image sensor are connected with the processor. The active light source emitting device generates time and space modulated light illuminating scene, the TOF sensor acquires a time modulation signal to obtain depth information of the scene, and the left and right image sensors acquire a space modulation signal to obtain image information of the scene. Feather matching to the image of the scene is carried out according to the depth information which adds constraint condition so as to obtain a high-resolution depth image. High-resolution rapid depth information is acquired in indoor and outdoor environment at low cost, and the depth information acquiring device and method on the basis of the TOF technology and the binocular vision are suitable for short distance and long distance.

Description

technical field [0001] The present invention relates to the technical fields of depth sensor, machine vision, three-dimensional reconstruction, binocular stereo vision and TOF, in particular to a depth information acquisition device and method combining TOF technology and binocular vision. Background technique [0002] In recent years, depth information has gained more and more applications in sensors. The technologies for obtaining depth information mainly include binocular stereo matching, TOF (Time of Flight, time of flight), monocular structured light and other technologies. These technologies can add additional depth information to the sensor, and have a wide range of applications in image recognition and processing, scene understanding, VR, AR, and robotics. However, the mainstream products currently on the market still have their own scope of use and limitations. For example, binocular stereo matching relies on complex algorithms, so the hardware requirements are hi...

AI Technical Summary

Problems solved by technology

However, the mainstream products currently on the market still have their own scope of use and limitations

For example, binocular stereo matching relies on complex algorithms, so the hardware requirements are high, the calculation time is long, and the target recognition effect is not good for unobvious features; the pulsed TOF depth measurement technology is very costly, and due to the limitation of the scanning method, there are high The contradiction between resolution and high refresh rate; the distance resolution and spatial resolution of phase method TOF depth measurement are not high, and the anti-interference ability is poor; according to the different encoding methods, structured light technology also has low resolution, long measurement time, Defects such as poor reliability have certain requirements for the characteristics of the measurement target, and the anti-interference ability is poor, so it can only be used indoors

In order to meet the needs, it is often necessary to configure a variety of sensors. Simple sensor stacking does not improve the overall performance, but also increases the complexity of the system structure and system cost.

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